Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree

Hao Ji; Huiping Shen; Tingli Yang

doi:10.16578/j.issn.1004.2539.2020.01.003

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Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree

Theory·Reserach | 更新时间：2022-11-10

- Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree
- Journal of Mechanical Transmission Vol. 44, Issue 1, Pages: 13-22(2020)
- 作者机构：
  
  1.常州大学现代机构学研究中心，江苏常州 213016
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.01.003
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吉昊,沈惠平,杨廷力.一种新型低耦合度半对称2T1R并联机构的拓扑设计及运动学[J].机械传动,2020,44(01):13-22.

Ji Hao Shen Huiping Yang Tingli.Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree[J].Journal of Mechanical Transmission,2020,44(01):13-22.
吉昊,沈惠平,杨廷力.一种新型低耦合度半对称2T1R并联机构的拓扑设计及运动学[J].机械传动,2020,44(01):13-22. DOI： 10.16578/j.issn.1004.2539.2020.01.003.

Ji Hao Shen Huiping Yang Tingli.Topology Design and Kinematics for a Novel Semi-symmetric 2T1R Parallel Mechanism with Low Coupling Degree[J].Journal of Mechanical Transmission,2020,44(01):13-22. DOI： 10.16578/j.issn.1004.2539.2020.01.003.

摘要

根据基于方位特征（POC）方程的并联机构拓扑设计理论和方法，设计了一种可实现两平移一转动（2T1R）输出运动的半对称并联机构，并对该机构的方位特征集、自由度、耦合度3个主要拓扑特征进行了分析计算，表明该机构的耦合度为1。然后，基于序单开链（Single Open Chain，SOC）的运动学建模原理，求解了机构的位置正解，导出位置机构反解解析式；进一步根据导出的位置反解公式分析了该机构的工作空间及其转动能力，研究了机构发生奇异的条件；并对机构的速度及其加速度进行了仿真分析。最后，对机构应用于脚踝按摩仪的原理进行了分析。

Abstract

According to the topology design theory and method of parallel mechanism(PM) based on position and orientation characteristic(POC) equations， a novel semi-symmetrical PM with two translation and one rotation (2T1R) output motion is designed. And the three main topological characteristics of the PM， such as the POC， degrees-of-freedom (DOF) and coupling degree are calculated and analyzed， and the coupling degree of the mechanism is 1.Then， based on the kinematics modeling principle of the ordered single open chain (SOC) units， the positive kinematics solution and inverse kinematics solution formula are achieved. According to formula， the workspace and rotational ability of PM are got and analyzed. The singularity condition of mechanism is studied. The velocity and acceleration of the mechanism are simulated and analyzed. Finally， the principle of the mechanism applied to ankle massage is analyzed.

关键词

2T1R 正解逆解工作空间转动能力奇异性运动仿真

Keywords

2T1RPositive solution and inverse solutionWorkspaceRotational capacitySingularityMotion simulation

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