| 引用本文: | 侯雨雷,张占叶,胡鑫喆,曾达幸.新型两转动自由度完全解耦并联机构及其特性[J].哈尔滨工业大学学报,2014,46(9):80.DOI:10.11918/j.issn.0367-6234.2014.09.014 |
| HOU Yulei,ZHANG Zhanye,HU Xinzhe,ZENG Daxing.A novel 2-DOF fully decoupled rotational parallel mechanism and its characteristics[J].Journal of Harbin Institute of Technology,2014,46(9):80.DOI:10.11918/j.issn.0367-6234.2014.09.014 |
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| 摘要: |
| 针对并联机构内部耦合性给其运动学和动力学分析以及控制系统的开发带来的问题,提出一种新型的两自由度转动解耦并联机构．运用约束螺旋法对机构的自由度和运动特性进行分析,通过修正的Kutzbach-Grübler公式计算出机构自由度数目;利用各构件间几何关系,求解机构位置正反解解析表达式;根据机构输入与输出参数间关系式,推导得到机构雅可比矩阵,进而依据雅可比矩阵表达式,验证了机构的解耦特性,并进而讨论了驱动输入的选择对机构奇异的影响．提出的解耦并联机构丰富了机构构型库,对进一步应用具有理论指导意义． |
| 关键词: 并联机构 转动解耦 约束螺旋 奇异 雅可比矩阵 |
| DOI：10.11918/j.issn.0367-6234.2014.09.014 |
| 分类号:TH112 |
| 基金项目:国家自然科学基金资助项目(5,9); 中国博士后科学基金资助项目(2013M541199). |
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| A novel 2-DOF fully decoupled rotational parallel mechanism and its characteristics |
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HOU Yulei, ZHANG Zhanye, HU Xinzhe, ZENG Daxing
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(School of Mechanical Engineering, Yanshan University, 066004 Qinhuangdao, Hebei, China)
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| Abstract: |
| To avoid the difficulties in the kinematics and dynamic analysis, development of control system, and so on brought by the existence of coupling in the parallel mechanism, a novel two degrees of freedom (DOF) rotational decoupled parallel mechanism (DPM) is proposed. The mobility and motion feature of this 2-DOF rotational DPM is analyzed with the constraint screw method, and the number of mobility is calculated by using the Modified Kutzbach-Grübler criterion. The inverse and forward displacement problems of the proposed DPM are solved according to the geometrical relationship. The expression of the Jacobian matrix is deduced with the relational expression between the input and output parameters of the mechanism. And according to the expression of the Jacobian matrix, the decoupled feature of the proposed parallel mechanism is validated. Aiming at different selection of the drive, the singular configuration of the mechanism is analyzed according to the Jacobian matrix. The contents of this paper enrich the configurations of the decoupled parallel mechanisms and should be useful for the further application of the parallel mechanisms. |
| Key words: parallel mechanism rotational decoupled constraint screw singularity Jacobian matrix |
