Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism

Xunbao Liao; Guangchun Lin; Rongkuan Zhao; Binghui Xu; Haike Yan

doi:10.16578/j.issn.1004.2539.2020.12.017

您当前的位置：

首页 >

文章列表页 >

Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism

Design· Calculation | 更新时间：2022-11-10

- Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 12, Pages: 106-112(2020)
- 作者机构：
  
  1.四川大学机械工程学院，四川成都 610065
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.12.017
  CLC：
扫描看全文
廖勋宝,林光春,赵荣宽等.3-UU/UPU+2P混联机构运动学及工作空间分析[J].机械传动,2020,44(12):106-112.

Liao Xunbao,Lin Guangchun,Zhao Rongkuan,et al.Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism[J].Journal of Mechanical Transmission,2020,44(12):106-112.
廖勋宝,林光春,赵荣宽等.3-UU/UPU+2P混联机构运动学及工作空间分析[J].机械传动,2020,44(12):106-112. DOI： 10.16578/j.issn.1004.2539.2020.12.017.

Liao Xunbao,Lin Guangchun,Zhao Rongkuan,et al.Kinematics and Workspace Analysis of 3-UU/UPU+2P Hybrid Mechanism[J].Journal of Mechanical Transmission,2020,44(12):106-112. DOI： 10.16578/j.issn.1004.2539.2020.12.017.

摘要

针对混联机构兼具串并联机构优点的特点，提出一种新型3-UU/UPU+2P双层混联机构。首先，详细叙述了该机构的结构特性，并构建动、静坐标系；其次，基于螺旋理论对机构的自由度进行分析，并利用修正的G-K公式对自由度进行验证，得出该机构具有3个自由度且属于非瞬时机构的结论；然后，根据机构的运动特性，建立机构的运动学正解和逆解模型，并采用基于符号运算的微分变换法对机构的速度及加速度正解进行分析，通过具体的数值算例得出运动学模型的变化曲线，将理论计算结果与Adams仿真结果进行对比分析，验证了所构建运动学模型的正确性；最后，基于蒙特卡洛方法对该机构的工作空间进行分析，为机构的构型设计以及实际应用提供理论依据。研究结果表明，该机构具有较大的连续工作空间，且呈现一定的对称性。

Abstract

A new 3-UU/UPU+2P double-layer hybrid mechanism is proposed in view of the characteristics of the hybrid mechanism having both the advantages of the serial and parallel mechanisms. Firstly，the structural characteristics of the mechanism are described in detail，and a dynamic and static coordinate system is constructed. Secondly，the degree of freedom of the mechanism is analyzed based on the spiral theory，and the degree of freedom is verified by using the modified G-K formula. It is concluded that the mechanism has 3 degrees of freedom and belongs to a non-transient mechanism. Then，based on the kinematic characteristics of the mechanism，the forward and inverse solution models of the kinematics of the mechanism are established，and the differential solution method of symbolic operation is used to analyze the forward and velocity solutions of the mechanism. The change curves of kinematics model are obtained through specific numerical examples，and the theoretical calculation results are compared with Adams simulation results to verify the correctness of the kinematics model. Finally，the workspace of the mechanism is analyzed based on Monte Carlo method，which provides theoretical basis for the configuration design and practical application of the mechanism. The research results show that the mechanism has a large continuous and symmetrical workspace.

关键词

混联机构运动学蒙特卡洛法工作空间

Keywords

Hybrid mechanismKinematicsMonte Carlo methodWorkspace

references

郭希娟，黄天宇，常福清.动态式连接的少自由度混联机构的运动学分析［J］.机械工程学报，2013，49（1）：1-7.

GUO Xijuan，HUANG Tianyu，CHANG Fuqing.Kinematics of a new hybrid mechanism with reduced DOF and nested dynamic connection［J］.Journal of Mechanical Engineering，2013，49（1）：1-7.

曹毅，刘俊辰，翟明浩，等.含间隙 3-CPaR&R1R2混联机构动力学分析［J］.华中科技大学学报（自然科学版），2019，47（12）：48-54.

CAO Yi，LIU Junchen，ZHAI Minghao，et al.Dynamic analysis of 3-CPaR&R1R2 hybrid mechanism with joint clearance［J］.Journal of Huazhong University of Science and Technology（Natural Science Edition），2019，47（12）：48-54.

秦友蕾，曹毅，陈海，等.两移动三转动完全解耦混联机器人机构型综合［J］.西安交通大学学报，2016，50（1）：92-99.

QIN Youlei，CAO Yi，CHEN Hai，et al.Structural synthesis of fully-decoupled two-translational and three-rotational hybrid robotic manipulators［J］.Journal of Xi'an Jiaotong University，2016，50（1）：92-99.

曹毅，秦友蕾，陈海，等.基于GF集理论的五自由度混联机器人构型综合［J］.农业机械学报，2015，46（11）：392-398.

CAO Yi，QIN Youlei，CHEN Hai，et al.Structural synthesis of 5-DOF hybrid mechanisms based on GF set［J］.Transactions of the Chinese Society for Agricultural Machinery，2015，46（11）：392-398.

陈文亮，王慧，王珉，等.具有冗余自由度的混联自动钻铆机运动学分析［J］.华南理工大学学报（自然科学版），2019，47（10）：51-59.

CHEN Wenliang，WANG Hui，WANG Min，et al.Kinematic analysis of hybrid automatic drilling and riveting machine with redundant degree of freedom［J］.Journal of South China University of Technology（Natural Science Edition），2019，47（10）：51-59.

郭希娟，张涛，王玉镇，等.一种共轴混联机构的运动学分析［J］.机械工程学报，2014，50（11）：60-67.

GUO Xijuan，ZHANG Tao，WANG Yuzhen，et al.Kinematics analysis of a new coaxial hybrid mechanism［J］.Journal of Mechanical Engineering，2014，50（11）：60-67.

葛姝翌，曹毅，周睿，等.三平移混联机构型综合［J］.中国机械工程，2017，28（3）：258-266.

GE Shuyi，CAO Yi，ZHOU Rui，et al.Type synthesis of three-translational hybrid mechanisms［J］.China Mechanical Engineering，2017，28（3）：258-266.

GENG X，SHI Z W，CHENG K M，et al.A new hybrid mechanism for dynamic wind tunnel test of high maneuverable air vehicle［J］.The Journal of Aerospace Engineering，2016，230（10）：1964-1974.

TIAN C X，FANG Y F，GUO S，et al.Structural synthesis of a class of 2R2T hybrid mechanisms［J］.Chinese Journal of Mechanical Engineering，2016，29（4）：703-709.

UCHIYAMA T，TERADA H，MITSUYA H，et al.Continu- ous path control of a 5-DOF parallel-serial hybrid robot［J］.Journal of Mechanical Science & Technology，2010，24（1）：47-50.

张彦斌，荆献领，韩建海，等.新型RR-RURU踝关节康复机器人机构的设计与分析［J］.中国机械工程，2019，30（14）：1734-1741.

ZHANG Yanbin，JING Xianling，HAN Jianhai，et al.Design and analysis of a novel RR-RURU ankle rehabilitation robot mechanism［J］.China Mechanical Engineering，2019，30（14）：1734-1741.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics Analysis and Workspace Study of Hybrid Labelling Mechanism

Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation

Design and Analysis of an Annular 3-PPR Planar Parallel Mechanism

Structural Design and Kinematic Analysis of a 10-DOF Exoskeleton Rehabilitation Robot

Kinematics and Workspace Analysis of a 1T2R Parallel Mechanism

Related Author

No data

Related Institution

School of Mechanical Engineering， Hebei University of Science and Technology

School of Mechanical Engineering, North University of China

School of Mechanical Engineering, Chongqing University of Technology

School of Mechanical and Electrical Engineering， Qingdao University of Science and Technology

School of Mechanical Engineering，North University of China

⁰