Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism

Yong Liu; Yong Xu; Lü Yeping; Wei Song

doi:10.16578/j.issn.1004.2539.2019.07.007

您当前的位置：

首页 >

文章列表页 >

Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism

Theory·Reserach | 更新时间：2022-09-24

- Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism
- Journal of Mechanical Transmission Vol. 43, Issue 7, Pages: 35-40(2019)
- 作者机构：
  
  1.上海工程技术大学机械与汽车工程学院，上海 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.07.007
  CLC：
扫描看全文
刘勇,许勇,吕叶萍等.全对称4-URU并联机构运动性能分析与尺度优化[J].机械传动,2019,43(07):35-40.

Liu Yong,Xu Yong,Yeping Lü,et al.Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):35-40.
刘勇,许勇,吕叶萍等.全对称4-URU并联机构运动性能分析与尺度优化[J].机械传动,2019,43(07):35-40. DOI： 10.16578/j.issn.1004.2539.2019.07.007.

Liu Yong,Xu Yong,Yeping Lü,et al.Kinematic Performance Analysis and Scale Optimization of a Fully Symmetric 4-URU Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(07):35-40. DOI： 10.16578/j.issn.1004.2539.2019.07.007.

摘要

深入研究了一种能实现3T1R运动的全对称4-URU并联机构。基于螺旋理论验证了机构的自由度特征，建立了机构位置正逆解数学模型，确定了机构的奇异位形。采用数值搜索法求解了机构的工作空间，通过考察各尺度参数对工作空间的影响，优选得到了机构的关键尺度参数。相关数值计算及运动仿真结果表明，该机构运动学模型及性能分析结论正确合理，相关成果可为机构动力学分析、结构设计提供参考依据。

Abstract

A fully symmetric 4-URU parallel mechanism with 3T1R motion is studied. Based on the screw theory, the degree of freedom of the mechanism is verified, the mathematical model of the positive and negative solution of the mechanism position is established, and the singular configuration of the mechanism is obtained. The workspace of the mechanism is solved by the numerical search method. The key scale parameters of the mechanism are optimized by examining the influence of various scale parameters on the workspace. The results of numerical calculation and motion simulation show that the kinematics model and performance analysis are correct and reasonable, and the results can provide references for mechanism mechanics analysis, structure design.

关键词

3T1R运动运动性能尺度优化

Keywords

3T1R motionKinematic performanceScale optimization

references

杨桂林，吴存存，陈庆盈. 3T1R并联机构运动学分析与优化设计［J］.农业机械学报， 2017， 48（12）：386-394.

黄真，赵永生，赵铁石. 高等空间机构学［M］. 北京：高等教育出版社， 2014： 255-256， 367-374.

沈惠平，邵国为，邓嘉鸣. 一种新型低耦合度非全对称三平移一转动并联机械手及其运动学分析［J］. 中国机械工程， 2017， 28（19）：2289-2299.

GALLARDO-ALVARADO J. Kinematics and dynamics of a 4-PRUR Schönflies parallel manipulator by means of screw theory and the principle of virtual work［J］. Mechanism and Machine Theory， 2018（122）：347-360.

GALLARDO-ALVARADO J. Kinematics of the 4-RUU parallel manipulator generator of the schönflies motion by means of screw theory［J］. Journal of Mechanical Science and Technology， 2017， 31（10）：4925-4932.

陈立辉，张艳华，杜秀菊. 计算机辅助几何法分析4-DOF并联机器人［J］. 机械传动， 2010， 34（3）：13-17.

徐乃昊，刘安心，杨廷力. 一种新型3T1R并联机器人的拓扑结构设计及运动学分析［J］. 机械制造与自动化， 2016， 45（6）：169-171.

RICHARD P L， GOSSELIN C M， KONG X W. Kinematic analysis and prototyping of a partially decoupled 4-DOF 3T1R parallel manipulator［J］. Journal of Mechanical Design， 2007， 129（6）：611-616.

朱伟，顾开荣，王传伟. 一种3T1R并联机构设计及运动学性能分析［J］. 中国机械工程， 2018， 29（1）：14-21.

刘艳敏，李仕华. 基于灵巧性的3T1R冗余驱动并联机构输入优选［J］. 中国科技论文， 2016， 11（22）：2531-2536.

LI S H， LIU Y M. Synthesis of branched chains with actuation redundancy for eliminating interior singularities of 3T1R parallel mechanisms［J］. Chinese Journal of Mechanical Engineering， 2016， 29（2）：250-259.

王宗平，赵登峰，李宽. 新型四自由度并联机构运动性能分析与动力学求解研究［J］. 机械传动， 2018， 42（5）：18-25.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure

Related Author

No data

Related Institution

School of Construction Machinery, Shandong Jiaotong University, Ji'nan

Shandong Tianyi Machinery Co., Ltd., Ji'ning

⁰