Type Synthesis of Fully-decoupled Three-rotational and Three-translational Parallel Mechanism

Zhou Hui; Cao Yi

doi:10.16578/j.issn.1004.2539.2016.09.002

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Type Synthesis of Fully-decoupled Three-rotational and Three-translational Parallel Mechanism

更新时间：2022-10-20

- Type Synthesis of Fully-decoupled Three-rotational and Three-translational Parallel Mechanism
- Vol. 40, Issue 9, Pages: 6-12(2016)
- 作者机构：
  
  1. 江南大学机械工程学院
  2. 江苏省食品先进制造装备技术重点实验室
  3. 上海交通大学机械系统与振动国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.002
  CLC：
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[1]周辉,曹毅.六自由度完全解耦并联机构型综合[J].机械传动,2016,40(09):6-12.

Zhou Hui, Cao Yi. Type Synthesis of Fully-decoupled Three-rotational and Three-translational Parallel Mechanism. [J]. 40(9):6-12(2016)
[1]周辉,曹毅.六自由度完全解耦并联机构型综合[J].机械传动,2016,40(09):6-12. DOI： 10.16578/j.issn.1004.2539.2016.09.002.

Zhou Hui, Cao Yi. Type Synthesis of Fully-decoupled Three-rotational and Three-translational Parallel Mechanism. [J]. 40(9):6-12(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.002.

摘要

通过分析解耦并联机构的输入输出特点,基于支链独立驱动原理和螺旋理论提出了6自由度（3R3T）完全解耦并联机构构型综合方法。首先,基于完全解耦并联机构的雅可比矩阵为非零对角阵的要求,利用螺旋理论构造出满足期望要求的正逆雅可比矩阵,以确定支链驱动副作用于动平台上的使动螺旋;再得到该使动螺旋对应支链上的表示驱动副的驱动螺旋和除驱动螺旋之外的其他运动螺旋系,据此可完成支链结构螺旋系的配置;最后,根据完全解耦并联机构分支组合原理,依次选取6条支链连接动定平台,得到多种3R3T完全解耦并联机构。综合的完全解耦并联机构的输出运动是由支链上独立的输入驱动提供的,且机构的正逆雅可比矩阵在运动过程中始终保持为对角阵,所以属于完全解耦并联机构,此类机构结构紧凑,控制简单,具有较好的应用前景。

Abstract

Through the analysis of the input and output characteristic of the full-coupled parallel mechanism,based on the theory of screws and the principle of individual driving,a method of structural synthesis of fully-decoupled three-translational and three-rotational（ 3R3T） parallel mechanism is proposed. Firstly,based on the requirement of the Jacobian matrix of full-coupled parallel mechanism is the nonzero diagonal matrix,by using the screw theory,both the positive and the inverse Jacobian matrix meeting the expected requirement are constructed. The actuation screws of branch chain drive pair acting on the moving platform is determined,and the motion screw system of corresponding branched chain is obtained,and the branch chain structure screw system configuration can be completed by this. Finally,according to the full-coupled parallel mechanism branch combination principle,the six branched chains is selected to link motion platform,a lot of fully-decoupled 3R3T parallel mechanisms are obtained. The output motion of the synthesized fully-decoupled parallel mechanism is provided by independent input of branched chain,and the positive and the inverse Jacobian matrix is always stay for diagonal matrix in the moving process,it is belong to fully-decoupled parallel mechanism. The structure of such mechanism is compacted,control is simple,and it also has good prospect.

关键词

独立驱动完全解耦并联机构型综合

Keywords

Individual driveFully-decoupledParallel mechanismType synthesis

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