一种新型可重构5R机构的运动学分析

目的提出一种新型可重构5R机构,改变5R机构机架的尺寸和位置,提高基于5R机构设计的折箱设备和对不同加工作业的适应性。方法使用螺旋副提供驱动而改变定平台的位置和等效尺寸,从而实现机构的重构,得到一种新型的5R并联机构。使用旋量理论对此机构进行速度分析。结果得到了这种新型5R机构的输入-输出速度关系表达式,使用矢量法和旋量工具,进行了对比验证,两者结果一致。结论旋量理论在进行速度分析时,物理意义明确,求解模式统一,使用方便。通过对此新型并联机构进行运动学分析,可为该机构的优化设计、尺度综合、动力学分析提供理论基础。

Kinematics Analysis of a New Reconfigurable 5R Mechanism

The work aims to propose a new reconfigurable 5R mechanism to change the size and location of 5R mechanism rack, and improve the adaptability of folding equipment designed based on 5R mechanism and different processing operations. The position and equivalent size of the fixed platform were changed by the screw pair, and then the reconstruction of the mechanism was realized and a new 5R parallel mechanism was obtained. The speed analysis of this mechanism was carried out with the screw theory. The expression of the velocity relation of this new 5R mechanism was obtained. The vector method and the screw theory were used to verify the results, and the results were consistent. For the velocity analysis, with explicit physical significance and uniform solution mode, the screw theory is easy to use. The kinematics analysis of the new parallel mechanism provides a theoretical basis for the optimization design, scale synthesis and dynamic analysis of the mechanism.