Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism

Wang Linping; Shen Huiping; Li Ju; Nie Yabiao; Chen Bingwei

doi:10.16578/j.issn.1004.2539.2023.04.009

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Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism

Design· Calculation | 更新时间：2023-05-04

- Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism
- Journal of Mechanical Transmission Vol. 47, Issue 4, Pages: 58-68(2023)
- 作者机构：
  
  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.1004.2539.2023.04.009
  CLC：
- Published：15 April 2023，
  
  Received：08 March 2022，
  
  Revised：02 April 2022，
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汪林平,沈惠平,李菊等.1T1R新型并联机构摆动力完全平衡及部分平衡优化的设计[J].机械传动,2023,47(04):58-68.

Wang Linping,Shen Huiping,Li Ju,et al.Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(04):58-68.
汪林平,沈惠平,李菊等.1T1R新型并联机构摆动力完全平衡及部分平衡优化的设计[J].机械传动,2023,47(04):58-68. DOI： 10.16578/j.issn.1004.2539.2023.04.009.

Wang Linping,Shen Huiping,Li Ju,et al.Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(04):58-68. DOI： 10.16578/j.issn.1004.2539.2023.04.009.

摘要

应用有限位置法对一种空间1T1R新型并联机构进行摆动力完全平衡设计与部分平衡优化。首先，根据并联机构拓扑结构设计理论，设计一种一平移一转动（1T1R）的新型并联机构，并进行拓扑分析和位置分析。其次，进行树的划分，确定连枝构件，通过求得该机构包含的两个子运动链（SKC）的质量矩，最终求出机构总的质量矩。然后，根据质量矩平衡条件，导出摆动力完全平衡方程组，求得各树枝构件的配重参数并进行完全平衡效果验证。最后，考虑实用原则，进一步研究摆动力部分平衡优化，采用遗传算法，求得最优配重质量和配重位置，并将平衡前后进行对比，通过计算可知：机构质心轨迹在

、

Y、Z

方向上的波动分别减少了55.38%、26.17%、86.29%，摆动力在

、

方向上的波动分别减少了58.39%、67.11%、39.19%。

Abstract

The finite position method is applied to the complete balance design and partial balance optimization of swing force of a new spatial 1T1R parallel mechanism. Firstly

according to the topology design theory of parallel mechanism

a new type of translation rotation (1T1R) parallel mechanism is designed

and the topology and position analysis are carried out. Secondly

divide the tree

determine the connecting branch component

and finally calculate the total mass moment of the mechanism by obtaining the mass moment of the two sub kinematic chains (SKC) contained in the mechanism. Then

according to the mass moment balance condition

the complete balance equations of pendulum force are derived

the counterweight parameters of each branch member are obtained

and the complete balance effect is verified. Finally

considering the practical principle

further study the balance optimization of the pendulum force part

and use the genetic algorithm to obtain the optimal counterweight mass and counterweight position

and compare the balance before and after. The calculation shows that the fluctuation of the center of mass trajectory of the mechanism in the

and

directions is reduced by 55.38%

26.17% and 86.29% respectively

and the fluctuation of the pendulum force in the

and

directions is reduced by 58.39%

67.11% and 39.19% respectively.

关键词

并联机构拓扑分析有限位置法摆动力平衡总质量矩

Keywords

Parallel mechanismTopology analysisFinite position methodPendulum dynamic balanceTotal mass moment

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