Kinematics Analysis of 1T3R Parallel Mechanism with Decoupling-reducing Structure based on Hybrid Drive

Guowang Chen; Li Du; Linxian Che; Junkun Hong; Mafei Bao

doi:10.16578/j.issn.1004.2539.2019.07.014

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Kinematics Analysis of 1T3R Parallel Mechanism with Decoupling-reducing Structure based on Hybrid Drive

Design· Calculation | 更新时间：2022-09-24

- Kinematics Analysis of 1T3R Parallel Mechanism with Decoupling-reducing Structure based on Hybrid Drive
- Journal of Mechanical Transmission Vol. 43, Issue 7, Pages: 72-78(2019)
- 作者机构：
  
  1.重庆工商大学制造装备机构设计与控制重庆市重点实验室，重庆 400067
  2.重庆理工大学机械工程学院，重庆 400054
  3.重庆工程职业技术学院机械工程学院，重庆 402260
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.07.014
  CLC：
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陈国旺,杜力,车林仙等.混合驱动1T3R结构降耦并联机构运动学分析[J].机械传动,2019,43(07):72-78.

Chen Guowang,Du Li,Che Linxian,et al.Kinematics Analysis of 1T3R Parallel Mechanism with Decoupling-reducing Structure based on Hybrid Drive[J].Journal of Mechanical Transmission,2019,43(07):72-78.
陈国旺,杜力,车林仙等.混合驱动1T3R结构降耦并联机构运动学分析[J].机械传动,2019,43(07):72-78. DOI： 10.16578/j.issn.1004.2539.2019.07.014.

Chen Guowang,Du Li,Che Linxian,et al.Kinematics Analysis of 1T3R Parallel Mechanism with Decoupling-reducing Structure based on Hybrid Drive[J].Journal of Mechanical Transmission,2019,43(07):72-78. DOI： 10.16578/j.issn.1004.2539.2019.07.014.

摘要

基于方位特征集理论及并联机构降耦原理，设计一种新型混合驱动1T3R结构降耦并联机构，该机构具有局部运动解耦特性。通过对其进行拓扑结构分析，得出动平台方位特征集的类型，计算出机构的自由度及耦合度。运用空间投影原理及位姿变换矩阵方法，推导出机构位置正反解的显式表达式。运用MATLAB软件编程，分别得出机构位置正、反解数值算例，其数值结果完全吻合，表明位置正反解模型正确可靠。运用MATLAB软件编程和Adams软件运动仿真得到机构角位移曲线，两者结果一致，验证了运动理论分析模型的正确性。基于运动仿真三维模型，直接得出机构的角速度、角加速度曲线。

Abstract

Based on the position feature set theory and decoupling principle of parallel mechanism, a new kind of structure decoupled parallel mechanism with hybrid driving and local motion decoupling is designed and its movement is one translation and three rotations (1T3R). The topological structure of the parallel mechanism is analyzed, the type of the position feature set of the moving platform is obtained and the degrees of freedom and coupling of the mechanism are solved. The explicit analytical expressions of the positive and inverse solutions of the position of the mechanism are obtained by using the spatial projection principle and the pose transformation matrix method. The numerical examples of the positive and inverse solutions of the position of the mechanism are obtained by using MATLAB software programming and the results are completely consistent, indicating that the position inverse solution model is correct and reliable. The angular displacement curves of the mechanism are obtained by using MATLAB software programming and Adams software motion simulation and their results are the same, which verifies the correctness of the theoretical analysis model of motion. Based on the 3D motion simulation model, the angular velocity and angular acceleration curves of the mechanism are obtained.

关键词

并联机构零耦合度1T3R运动学正反解

Keywords

Parallel mechanismZero coupling degreeOne translation and three rotationPositive and inverse solutions of kinematics

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