| 运动副分布顺序对并联机构运动学与动力学性能的影响 |
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| 引用本文： | 沈惠平,仲锐,李菊,李涛.运动副分布顺序对并联机构运动学与动力学性能的影响[J].农业机械学报,2023,54(7):412-426. |
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| 作者姓名： | 沈惠平 仲锐 李菊 李涛 |
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| 作者单位： | 常州大学现代机构学研究中心 |
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| 基金项目： | 国家自然科学基金项目(51975062) |
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| 摘 要： | 根据基于方位特征(POC)的并联机构拓扑设计理论，设计了两种零耦合度且部分运动解耦的三自由度两平移一转动(2T1R)并联机构，它们具有相同运动副类型和数目，但在支链中的分布顺序不同；对这两种机构进行了方位特征、自由度及耦合度等主要拓扑特征分析，并给出其拓扑解析式；根据拓扑特征运动学建模原理，求解了这两种机构的符号式位置正反解，分别分析了两种机构的工作空间和机构发生奇异的条件及奇异位形；根据基于虚功原理的序单开链法对两种机构进行逆向动力学建模，分别求得两种机构的驱动力；对比两种机构运动学与动力学性能，并给出优选机型。给出了优选机型用于水果深加工中智能分拣、输送等应用场景的概念设计。
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| 关 键 词： | 并联机构 拓扑设计 方位特征集 运动解耦 运动学 动力学 |
| 收稿时间： | 2022/10/12 0:00:00 |
Influence of Different Distribution Order of Joints on Kinematic and Dynamic Performance of Parallel Mechanism |
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| SHEN Huiping,ZHONG Rui,LI Ju,LI Tao.Influence of Different Distribution Order of Joints on Kinematic and Dynamic Performance of Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2023,54(7):412-426. |
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| Authors: | SHEN Huiping ZHONG Rui LI Ju LI Tao |
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| Affiliation: | Changzhou University |
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| Abstract: | According to the topology design theory of parallel mechanism based on the position and orientation characteristics (POC), two three-degree-of-freedom (3-DOF) two-translation-one-rotation (2T1R) parallel mechanisms(PMs) with zero coupling degree and partial motion decoupling were designed, which had the same type and number of kinematic pairs, but the distribution order was different in the branches. Firstly, the main topological characteristics of these two PMs, such as orientation, DOF and coupling degree, were analyzed, and their topological analytical expressions were given. Secondly, according to the kinematic modeling principle based on topological characteristics, the symbolic forward and reverse position solutions of the two PMs were solved, and the workspace, singular conditions and configurations of the two PMs were analyzed respectively. At the same time, according to the single-open-chain method based on virtual work principle, the reverse dynamics of the two PMs were established, and the actuated forces of the two PMs were obtained respectively. Furthermore, the kinematics and dynamics performances of the two PMs were compared, and the optimal PM was suggested. Finally, the conceptual design of the application scenario of the optimal PM used for intelligent sorting and conveying in fruit deep processing was given. The research result can provide a technical basis for the structural design and practical application of this mechanism. |
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| Keywords: | parallel mechanism topology design position and orientation characteristics set motion decoupling kinematics dynamic |
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