李虹,李亚丽,李瑞琴,胡洋.新型单支链含球铰闭环并联机构的位置分析[J].包装工程,2018,39(23):158-163.
LI Hong,LI Ya-li,LI Rui-qin,HU Yang.Position of New Single-branch Closed-loop Parallel Mechanism with Ball Joints[J].Packaging Engineering,2018,39(23):158-163. |
| 新型单支链含球铰闭环并联机构的位置分析 |
| Position of New Single-branch Closed-loop Parallel Mechanism with Ball Joints |
| 投稿时间：2018-08-18 修订日期：2018-12-10 |
| DOI：10.19554/j.cnki.1001-3563.2018.23.027 |
| 中文关键词: 并联机构 自由度 位置正反解 工作空间 |
| 英文关键词: parallel mechanism degree of freedom forward and reverse position solution working space |
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| 中文摘要: |
| 目的 鉴于4S闭环结构的优良运动性能，设计一种带球铰闭环的新型并联机构，并对其位置解及工作空间进行分析。方法 针对所设计的闭环并联机构，首先建立机构模型，然后用约束螺旋计算其自由度，其次基于数值法求解位置正反解，并通过相应运动算例验证其正确性，最后利用数值搜索法求解工作空间并进行分析。结果 动平台能够实现绕y轴转动、沿y方向移动和沿z方向移动的3自由度；闭环并联机构在约束参数范围内的工作空间连续稳定且没有出现空洞。结论 3条支链和4S闭环并联结构减少了过约束和奇异位型，且运动性能优良、运动空间大，在并联机床和工业机器人领域有可观的应用前景。 |
| 英文摘要: |
| The work aims to design a new closed loop parallel mechanism with ball joints, and analyze its position solution and working space, in view of the excellent motion performance of the 4S closed-loop structure. The mechanism model was firstly established for the designed closed-loop parallel mechanism. Then, the constraint screw was used to calculate its degree of freedom. Secondly, the forward and inverse position solution was solved based on the numerical method and its correctness was verified by the corresponding motion example. Finally, the numerical search method was used to solve the working space and for the analysis. The moving platform could realize 3 degrees of freedom around the y-axis rotation, and of the movement along y and z directions. The working space of the closed-loop parallel mechanism was continuously stable and had no holes within the range of constraint parameters. The three-branch and 4S closed-loop parallel structure reduces the over-constrained and singular-position type, has excellent motion performance and large motion space, and considerable application prospects in the field of parallel machine tools and industrial robots. |
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