5自由度4-SPRR-SPR并联机构的运动学与工作空间分析

强 郭; 国华 崔; 帆 张; 海东 鱼; 禛溢 程

doi:10.16578/j.issn.1004.2539.2019.12.018

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5自由度4-SPRR-SPR并联机构的运动学与工作空间分析

设计计算 | 更新时间：2022-10-25

- 5自由度4-SPRR-SPR并联机构的运动学与工作空间分析
- Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism
- 机械传动 2019年43卷第12期页码：97-102
- 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.1004.2539.2019.12.018
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郭强,崔国华,张帆等.5自由度4-SPRR-SPR并联机构的运动学与工作空间分析[J].机械传动,2019,43(12):97-102.

Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi.Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(12):97-102.
郭强,崔国华,张帆等.5自由度4-SPRR-SPR并联机构的运动学与工作空间分析[J].机械传动,2019,43(12):97-102. DOI： 10.16578/j.issn.1004.2539.2019.12.018.

Guo Qiang Cui Guohua Zhang Fan Yu Haidong Cheng Zhenyi.Kinematics and Workspace Analysis of 4-SPRR-SPR 5-DOF Parallel Mechanism[J].Journal of Mechanical Transmission,2019,43(12):97-102. DOI： 10.16578/j.issn.1004.2539.2019.12.018.

摘要

以一种以转轴为动平台的5自由度4-SPRR-SPR并联机构为研究对象，运用螺旋理论对4-SPRR-SPR并联机构进行自由度分析，利用矢量法建立并联机构的逆运动学方程；对运动副约束进行详细分析，利用三维边界搜索法得到该机构的定姿态以及动姿态工作空间。研究表明，该机构的工作空间具有对称性、内部无空洞、截面形状规整等优点；同时，以工作空间体积为优化目标，获得运动副约束与工作空间体积的影响曲线，得到了支链移动副移动范围为影响工作空间的最大因素。该机构在复杂空间曲面的零件切削加工、打磨等方面有着良好的应用前景。

Abstract

Taking a 2T3R 5-DOF 4-SPRR-SPR parallel mechanism with rotating axis as the moving platform as the research object, the degree of freedom of the 4-SPRR-SPR parallel mechanism is analyzed by the screw theory, the inverse kinematics equation of the parallel mechanism is established by the vector method, the constraint of the pair of motion is analyzed in detail, and the workspace of the mechanism is obtained by the three-dimensional boundary search method. The results show that the workspace of the mechanism has the advantages of symmetry, no holes in the interior, regular cross-section shape, etc. At the same time, taking the workspace volume as the optimization objective, the influence curves of the constraints of the motion pair and the workspace volume are obtained, and the maximum factors affecting the workspace are obtained, it is the movement range of branch chain moving pair. The mechanism has good application prospects in cutting and grinding parts of complex space surface.

关键词

并联机构运动学分析工作空间结构优化

Keywords

Parallel mechanismKinematics analysisWorkspaceStructural optimization

references

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