Research and Optimization of RR&amp;P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace

Yu Shanshan; Zhang Jianjun; Li Weimin; Yang Xianhai

doi:10.16578/j.issn.1004.2539.2020.03.003

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Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace

Theory·Reserach | 更新时间：2022-10-20

- Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace
- Journal of Mechanical Transmission Vol. 44, Issue 3, Pages: 14-20(2020)
- 作者机构：
  
  1.河北工业大学机械工程学院，天津 300130
  2.山东理工大学机械工程学院，山东淄博 255000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.03.003
  CLC：
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于珊珊,张建军,李为民等.RR&P5R型全球面工作空间解耦并联机构研究与优化[J].机械传动,2020,44(03):14-20.

Yu Shanshan,Zhang Jianjun,Li Weimin,et al.Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace[J].Journal of Mechanical Transmission,2020,44(03):14-20.
于珊珊,张建军,李为民等.RR&P5R型全球面工作空间解耦并联机构研究与优化[J].机械传动,2020,44(03):14-20. DOI： 10.16578/j.issn.1004.2539.2020.03.003.

Yu Shanshan,Zhang Jianjun,Li Weimin,et al.Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace[J].Journal of Mechanical Transmission,2020,44(03):14-20. DOI： 10.16578/j.issn.1004.2539.2020.03.003.

摘要

具有大球面及完整球面工作空间的球面并联机构是大角域工作空间应用领域研究的重要方向之一。针对当前球面并联机构存在工作空间不足的问题，基于双摇杆机构输入与输出差异化的特性，提出了一种新型2自由度全球面解耦并联机构构型思想，设计了一种RR,&,P5R型2自由度全球面工作空间解耦并联机构；通过运动学分析，建立了该机构的运动学方程，给出了机构的位置、速度和加速度的表达式；以支链最小输入量,q,2,为优化目标，对机构进行了结构尺寸优化；对RR,&,P5R型和RR,&,PRR型球面解耦并联机构进行了性能对比。结果表明，RR,&,P5R型具有更好的工作性能。研究结果将为大角域球面工作空间需求领域提供重要的理论依据。

Abstract

Spherical parallel mechanisms with large or fully spherical workspace are one of the important research directions in the application of large-angle workspace. Aiming at the problem of insufficient workspace in the current spherical parallel mechanisms，a new idea for the type design of a 2-DOF decoupled parallel mechanism with a fully spherical workspace is presented based on the input and output characteristics of the double rocker mechanism. And a newly decoupled parallel mechanism (RR,&,P5R) with a fully spherical workspace is designed. The kinematic equations of parallel mechanism are established through kinematic analysis. Then the relationship of displacement，velocity and acceleration between input and output for the RR,&,P5R mechanism are obtained. With the objective of the minimum input quantity ,q,2,，the size of the RR,&,P5R mechanism is optimized. This research provides an important theoretical basis for large-angle spherical workspace applications.

关键词

球面并联机构全球面工作空间运动解耦结构分析

Keywords

Spherical parallel mechanismFully spherical workspaceMovement decouplingStructural optimization

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Research and Optimization of RR&P5R Decoupled Parallel Mechanism with a Fully Spherical Workspace

DOI：10.16578/j.issn.1004.2539.2020.03.003

摘要

Abstract

关键词

Keywords

references