Design and Feasibility Analysis of a Dual Operation Mode Hybrid Mechanism

Xinglu Yin; Chunyan Zhang; Mingjuan Xie

doi:10.16578/j.issn.1004.2539.2020.01.009

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Design and Feasibility Analysis of a Dual Operation Mode Hybrid Mechanism

Design· Calculation | 更新时间：2022-11-10

- Design and Feasibility Analysis of a Dual Operation Mode Hybrid Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 1, Pages: 54-61(2020)
- 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.1004.2539.2020.01.009
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殷兴鲁,张春燕,谢明娟.一种双操作模式混联机构的设计与可行性分析[J].机械传动,2020,44(01):54-61.

Yin Xinglu Zhang Chunyan Xie Mingjuan.Design and Feasibility Analysis of a Dual Operation Mode Hybrid Mechanism[J].Journal of Mechanical Transmission,2020,44(01):54-61.
殷兴鲁,张春燕,谢明娟.一种双操作模式混联机构的设计与可行性分析[J].机械传动,2020,44(01):54-61. DOI： 10.16578/j.issn.1004.2539.2020.01.009.

Yin Xinglu Zhang Chunyan Xie Mingjuan.Design and Feasibility Analysis of a Dual Operation Mode Hybrid Mechanism[J].Journal of Mechanical Transmission,2020,44(01):54-61. DOI： 10.16578/j.issn.1004.2539.2020.01.009.

摘要

针对串联、并联两种基础构型在性能上对偶互补而不能综合发挥的问题，引入运动分岔机构，提出一种可实现串并联切换的全新混联构型，并以此设计了一款可重构双操作模式机械臂。介绍机械臂的结构组成，分析可重构臂部各构型下的自由度，运用旋量理论分析3-RSR/S并联基座的自由度特性。通过对臂部邻接构型约束螺旋系的对比，进行可行性分析。根据臂部不同模式下的运动特性，基于中枢模式发生器（CPG）的控制理论，可实现臂部的多模式控制和模式切换；通过仿真实验对臂部模式切换可行性进行验证，结果表明，设计方案合理可行，并进一步完成了实物样机模型的设计。该新构型是复杂先进装备创新研制方面的新尝试，可推广至工位性质较多的特殊工况作业。

Abstract

Serial and parallel configurations are mutually exclusive in performance and structure， this prevents performance advantages from being combined. To solve this problem， a novel hybrid configuration which can realize serial and parallel switching based on a motion bifurcation mechanism is proposed， and a reconfigurable dual operation manipulator is designed. The structure of the new manipulator is introduced， the degrees of freedom under each configuration of the reconfigurable manipulator are analyzed， and the characteristics of degrees of freedom of 3-RSR/S parallel base are analyzed by using screw theory. By comparing the constrained screw systems with the adjacent configurations of the reconfigure manipulators， the feasibility analysis is carried out. According to the motion characteristics of the manipulator in different modes， based on the control theory of CPG (central pattern generator)， the multi-mode control and mode switching are realized， the feasibility of the manipulator mode switching is verified by simulation experiments. The results show that the design scheme is reasonable and feasible， and the further prototype model design is completed. The new configuration is a new attempt in the innovation and development of complex advanced equipment， and can be extended to the special working conditions with more station properties.

关键词

混联构型双操作模式运动分岔可重构分析 CPG

Keywords

Hybrid configurationDual operation modeMotion bifurcationReconfigurable analysisCPG

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