刘伟,曹亚斌.RxPzRy型2R1T部分解耦并联机构设计与分析[J].包装工程,2020,41(7):190-196.
LIU Wei,CAO Ya-bin.Design and Analysis of RxPzRy Type 2R1T Partially Decoupled Parallel Mechanism[J].Packaging Engineering,2020,41(7):190-196. |
| RxPzRy型2R1T部分解耦并联机构设计与分析 |
| Design and Analysis of RxPzRy Type 2R1T Partially Decoupled Parallel Mechanism |
| 投稿时间：2019-08-08 修订日期：2020-04-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.07.027 |
| 中文关键词: 部分解耦 型综合 RPR型 |
| 英文关键词: partially decoupled type synthesis RPR type |
| 基金项目:科技创新平台建设工程/重点实验室建设项目（2019220614SYS021CG043） |
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| 中文摘要: |
| 目的 分析部分解耦的2R1T并联机构驱动副旋量特征，从而设计一类新型的部分解耦的RxPzRy型2R1T并联机构。方法 基于完全解耦的并联机构的输入输出关系，将动平台角速度在定坐标系轴线方向的分量，变换为XYZ欧拉角角速度分量，得到角速度的完全解耦的分块雅可比矩阵，得到具有多个转动自由度机构的输出与输入部分解耦的关系。结果 设计了一种新型部分解耦2R1T并联机构，分析表明该机构部分解耦。结论 对于RxPzRy型2R1T并联机构在解耦设计时，使用旋量理论得到的关于角速度的雅克比矩阵不适用于具有多个转动自由度的并联机构完全解耦设计，使用文中提出的变换矩阵将其变换为关于欧拉角的角速度的雅克比矩阵，可以得到相应的对角矩阵，这种方法可以用来对具有多个转动自由度的并联机构完全解耦设计。 |
| 英文摘要: |
| The work aims to design a new type of partially decoupled 2R1T parallel mechanism of RxPzRy type by an-alyzing the characteristics of the driving pairs of the partially decoupled 2R1T parallel mechanism by screw theory. Based on the input-output relationship of the fully decoupled parallel mechanism, the component of angular velocity of the moving platform in the axis direction of the fixed coordinate system was transformed into the component of XYZ Euler angular velocity. The fully decoupled block Jacobian matrix of angular velocity was obtained, and the partially decoupled input-output relationship of the mechanism with multiple rotational degrees of freedom was obtained. A new partially de-coupled 2R1T parallel mechanism was designed. The analysis showed that the mechanism was partially decoupled. For the decoupling design of RxPzRy type 2R1T parallel mechanism, the Jacobian matrix of angular velocity obtained by screw theory is not suitable for the complete decoupling design of parallel mechanism with multiple rotational degrees of freedom. The Jacobian matrix of Euler angular velocity is transformed by the proposed transformation matrix to obtain the corresponding diagonal matrix. The proposed method can be used for the complete decoupling design of parallel mechanisms with multiple rotational degrees of freedom. |
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