| 1T2R和2T1R两运动模式的并联机构的综合与分析 |
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| 引用本文： | 陆彩满,刘艳梨,古亮,吴洪涛. 1T2R和2T1R两运动模式的并联机构的综合与分析[J]. 机床与液压, 2021, 49(17): 38-48 |
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| 作者姓名： | 陆彩满 刘艳梨 古亮 吴洪涛 |
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| 作者单位： | 江苏安全技术职业学院机械工程系,江苏徐州221011;南京航空航天大学机电学院,江苏南京210016;重庆理工大学电气工程学院,重庆400054 |
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| 基金项目： | 国家自然科学基金面上项目（51975277） |
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| 摘 要： | 基于方位特征集理论,确定1T2R和2T1R两运动模式串联支链的最小范围的方位特征集,综合得到许多两运动模式的新支链结构;依据最大线性向量的相关性,确定1T2R和2T1R两运动模式并联机构的组合方案;并分析优选的两运动模式的并联机构不同运动模式下的运动特征。研究结果表明:综合得到的并联机构只要在锁住分岔支链其中一个转动副的条件下驱动,则机构通过分叉点能够实现1T2R与2T1R运动模式的切换。
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| 关 键 词： | 并联机构 两运动模式支链 运动模式切换 分叉点 |
Synthesis and Analysis of Parallel Mechanism with Both 1T2R and 2T1R Motion Mode |
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| LU Caiman,LIU Yanli,GU Liang,WU Hongtao. Synthesis and Analysis of Parallel Mechanism with Both 1T2R and 2T1R Motion Mode[J]. Machine Tool & Hydraulics, 2021, 49(17): 38-48 |
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| Authors: | LU Caiman LIU Yanli GU Liang WU Hongtao |
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| Abstract: | Based on the theory of position and orientation characteristics (POC) set, the minimum range POC set of serial branch with both 1T2R and 2T1R motion mode was indentified, many novel branches with two motion modes were synthesized. A conbined schemes of parallel mechanism with both 1T2R and 2T1R motion mode was completed by referring to correration of maximum linear vector, finally. Under different motion mode, the kinematical feature of the optimal parallel mechanism with two motion mode was analyzed. The research results show that when the synthetical parallel mechanism is driven under the premise of one of the revolution pairs of the bifurcated branch is locked, motion mode shift from 1T2R to 2T1R can be finished through the bifurcated position. |
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| Keywords: | Parallel mechanism Branch with two motion modes Shift of motion mode Bifurcated position |
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