| 三平移并联机构拓扑设计与运动学分析 |
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| 引用本文： | 李菊,朱忠颀,沈惠平,赵一楠,吴广磊.三平移并联机构拓扑设计与运动学分析[J].农业机械学报,2022,53(9):425-433，442. |
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| 作者姓名： | 李菊 朱忠颀 沈惠平 赵一楠 吴广磊 |
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| 作者单位： | 常州大学;大连理工大学 |
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| 基金项目： | 国家自然科学基金项目（51975062、51378062） |
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| 摘 要： | 基于子运动链生成子工作空间和基于叠加原理的并联机构拓扑设计方法，设计一种具有符号位置正解且运动解耦的纯三平移并联机构，并对该机构进行拓扑分析；运用基于拓扑特征的机构位置分析方法求解该机构位置正逆解并进行验算；基于SKC单元的奇异分析方法对该并联机构的奇异位形进行分析，并求解该并联机构规则无奇异的长方体工作空间。研究结果为一类具有规则工作空间并联机构的设计提供了理论基础。
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| 关 键 词： | 并联机构 拓扑设计 奇异性 工作空间 |
| 收稿时间： | 2021/10/2 0:00:00 |
Topological Design and Kinematic Analysis of Novel Three-translation Parallel Mechanism |
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| LI Ju,ZHU Zhongqi,SHEN Huiping,ZHAO Yinan,WU Guanglei.Topological Design and Kinematic Analysis of Novel Three-translation Parallel Mechanism[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(9):425-433，442. |
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| Authors: | LI Ju ZHU Zhongqi SHEN Huiping ZHAO Yinan WU Guanglei |
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| Institution: | Changzhou University; Dalian University of Technology |
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| Abstract: | According to the topology design method of parallel mechanism based on sub-kinematic-chain generating sub-workspace and its superposition principle, a pure three-translation parallel mechanism with symbolic positive solution and motion decoupling was designed. Through the topology structural analysis of the mechanism, it was found that the mechanism was composed of two sub-kinematic-chains, and the coupling degree of the mechanism was 0. Then, using the mechanism position analysis method based on topological characteristics, the forward and inverse position solutions of the mechanism were solved and verified. And it was found that the mechanism had the characteristics of partial motion decoupling and symbolic positive solution. Finally, the singular configuration of the parallel mechanism was analyzed by using the singular analysis method based on the sub-kinematic-chain element, and the regular and non-singular rectangular workspace of the parallel mechanism was solved. Using this singularity analysis method, all singular configurations in the sub-kinematic-chain can be found, and it was conducive to solving the regular workspace without singularity. The research result can provide a theoretical basis and specific method for the design of a class of parallel mechanisms with regular workspace, and it played a guiding role in the design of three-translation parallel mechanism based on the superposition principle of sub-workspace generated by sub-kinematic-chain, and provided an idea and method for singularity and workspace analysis of complex parallel mechanism with multiple sub-kinematic-chains. |
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| Keywords: | parallel mechanism topology design singularity working space |
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