| 基于方位特征方程的2T2R并联机构拓扑综合与分类 |
| |
| 引用本文： | 孙驰宇,沈惠平,袁军堂,杨廷力.基于方位特征方程的2T2R并联机构拓扑综合与分类[J].农业机械学报,2018,49(11):409-418. |
| |
| 作者姓名： | 孙驰宇 沈惠平 袁军堂 杨廷力 |
| |
| 作者单位： | 南京理工大学机械工程学院;常州大学现代机构学研究中心 |
| |
| 基金项目： | 国家自然科学基金项目（51475050） |
| |
| 摘 要： | 基于方位特征(POC)集方程的并联机构型综合方法,给出了可实现两平移两转动(2T2R)并联机构(parallel mechanism,PM)的型综合过程和方法,包括基于拓扑等效替代的复杂支路综合方法、支路几何装配条件的判定方法及驱动副的判定方法等,得到了15种2T2R构型,其中10种为新构型;并且,对这些构型按支路结构和动平台数目进行分类,对它们进行拓扑特征分析,得到其所包含的AKC(Assure运动链)(包括独立回路数、耦合度数)、自由度类型和运动解耦性。本文综合出的构型结构较为简单,易于装配,具有一定的实用价值。
|
| 关 键 词： | 并联机构 两平移两转动输出 机构型综合 方位特征集 |
| 收稿时间： | 2018/6/4 0:00:00 |
Topological Structural Synthesis and Classification of 2T2R Parallel Mechanism Based on POC Equations |
| |
| SUN Chiyu,SHEN Huiping,YUAN Juntang and YANG Tingli.Topological Structural Synthesis and Classification of 2T2R Parallel Mechanism Based on POC Equations[J].Transactions of the Chinese Society of Agricultural Machinery,2018,49(11):409-418. |
| |
| Authors: | SUN Chiyu SHEN Huiping YUAN Juntang and YANG Tingli |
| |
| Institution: | Nanjing University of Technology and Engineering,Nanjing University of Technology and Engineering;Changzhou University,Nanjing University of Technology and Engineering and Changzhou University |
| |
| Abstract: | The process of two translation and two rotation (2T2R) parallel mechanism (PM) type synthesis was systematically discussed according to the method of topological structural synthesis of parallel mechanism based on position ad orientation characteristic (POC) equations. The structure synthesis of complex branches, the method of judging geometric assembly condition of parallel mechanism and the judgment of drive unit of the parallel mechanism were all illustrated with examples. The type synthesis of hybrid single open chain (HSOC) branch chains was the foundation of the type synthesis of parallel mechanism, five new HSOC branches were proposed based on the complex branch synthesis method by the idea of equivalent substitution of topology structure. Totally 15 kinds of 2T2R parallel mechanisms were synthesized and classified according to branch structure and number of moving platform. Totally 10 kinds of them were new structures. Furthermore, the topological characteristics of them were analyzed, including the Assure kinematic chain (AKC), number of independent displacement equations for parallel mechanisms, degree of coupling, type of degree of freedom (DOF) and motion decoupling. In addition, according to the characteristics of topological structure, the 2T2R mechanism was classified and analyzed. These structures were simple and easy to be assembled and manufactured. All these new structures had practical value. |
| |
| Keywords: | parallel mechanism two translation and two rotation output type synthesis position and orientation characteristic |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《农业机械学报》浏览原始摘要信息 |
| 点击此处可从《农业机械学报》下载免费的PDF全文 |
|
