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针对并联机构内部耦合性带来运动学和动力学分析困难的问题,基于GF集理论提出一种简单而有效的三移动两转动(3T2R)完全解耦构型综合方法。首先,阐述GF集并联机器人构型理论;其次,根据GF集的求和运算和转动轴线迁移定理,给出了机构输入运动副选择原则以及解耦支链设计准则;按照完全解耦并联机构设计步骤,列举出了3T2R并联机构各解耦分支运动链,综合出了含有单、双驱动支链的3T2R五自由度完全解耦并联机构,得到了大量新构型;通过所综合出的一种新型并联机构,运用约束螺旋法对机构的自由度数目和运动特性进行分析,根据机构输入与输出参数间关系式,求解得到机构雅可比矩阵,验证了机构的解耦特性,进一步证明了该构型方法的有效性。研究对解耦并联机构的构型设计具有理论指导意义。
Aiming at the problem that kinematics and dynamics analysis are difficult to be solved by the internal coupling in parallel mechanism, a simple and effective synthesis method of 3T2R complete decoupling configuration is proposed based on GF set theory. First of all, the configuration theory of GF-set parallel robot is expounded. Secondly, according to GF summing operation and rotation axis migration theorem, the principles of mechanism input side-pair selection and decoupling branch design are given. According to the design of fully decoupled parallel mechanism Step, the 3T2R parallel mechanism of each decoupling branch kinematic chain is enumerated, and a 3T2R five degree-of-freedom complete decoupling parallel mechanism with single and double drive branches is synthesized, a large number of new configurations are obtained; Based on the relationship between the input and output parameters of the mechanism, a new type of parallel mechanism is proposed, which uses the constraint spiral method to analyze the number of degrees of freedom and the movement characteristics of the mechanism. The Jacobian matrix of the mechanism is obtained and the decoupling characteristics of the mechanism are verified. Effectiveness of the method. The research has theoretical significance for the design of decoupling parallel mechanism.