| 含有恰约束分支的无耦合两转动并联机构型综合 |
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| 引用本文： | 张彦斌,王科明,芦风林,魏雪敏,王科峰. 含有恰约束分支的无耦合两转动并联机构型综合[J]. 中国机械工程, 2022, 33(1): 54-61. DOI: 10.3969/j.issn.1004-132X.2022.01.006 |
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| 作者姓名： | 张彦斌 王科明 芦风林 魏雪敏 王科峰 |
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| 作者单位： | 1.河南科技大学机电工程学院，洛阳，4710032.机械装备先进制造河南省协同创新中心，洛阳，471003 |
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| 基金项目： | 河南省科技攻关计划（192102210221）；河南省高等学校重点科研项目基础研究计划（18A460001） |
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| 摘 要： | 为提高解耦并联机构的刚度和承载能力,基于分支驱动力螺旋理论提出一种含有恰约束分支的无耦合两转动并联机构型综合系统方法.分析了无耦合两转动并联机构的运动解耦性与分支驱动力之间的关系,确定了分支驱动力螺旋的作用形式;研究了机构输入输出运动之间的映射关系,根据机构雅可比矩阵为对角阵的特点,确定了主动分支的驱动力螺旋和主动运动...
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| 关 键 词： | 型综合 并联机构 恰约束分支 无耦合 驱动力螺旋 |
Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch |
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| ZHANG Yanbin,WANG Keming,LU Fenglin,WEI Xuemin,WANG Kefeng. Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch[J]. China Mechanical Engineering, 2022, 33(1): 54-61. DOI: 10.3969/j.issn.1004-132X.2022.01.006 |
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| Authors: | ZHANG Yanbin WANG Keming LU Fenglin WEI Xuemin WANG Kefeng |
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| Affiliation: | 1.School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang,Henan,4710032.Center of Machinery Equipment Advanced Manufacturing of Henan Province,Luoyang,Henan,471003 |
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| Abstract: | In order to improve stiffness and loading capability of decoupled parallel mechanisms, a systemic method of type synthesis for the uncoupled two-rotational parallel mechanism with one pure constraint branch was proposed based on branch actuation wrench screw theory. The relationship between motion decoupling and branch actuation wrench of the uncoupled two-rotational parallel mechanism was analyzed, and the action forms of the branch actuation wrench screws were determined. Mapping relationship between input and output motions of the parallel mechanism was studied. According to the characteristic of Jacobian matrix which was a diagonal one, real forms of the actuation wrench screws and actuated twist screws of driving branches were derived. The law determining the non-actuated twist screws was established. As a result, structural synthesis of the driving branches was completed. Finally, type synthesis of the uncoupled two-rotational parallel mechanism with one pure constraint branches was realized and some new parallel mechanisms were obtained. |
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| Keywords: | type synthesis parallel mechanism pure constraint branch uncoupled actuation wrench screw |
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