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重庆城市科技学院 电气工程与智能制造学院, 重庆 402167
毛江(1986— ),男,四川渠县人,硕士,讲师;研究方向为机构学与机器人、高端制造装备;maojiangcqu2011@163.com。
纸质出版日期:2023-07-15,
收稿日期:2022-12-18,
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毛江,朱小飞,陈进等.基于最优传递性能的2T2R并联机构型综合[J].机械传动,2023,47(07):17-24.
Mao Jiang,Zhu Xiaofei,Chen Jin,et al.Type Synthesis of 2T2R Parallel Mechanisms Based on Optimal Transmission[J].Journal of Mechanical Transmission,2023,47(07):17-24.
毛江,朱小飞,陈进等.基于最优传递性能的2T2R并联机构型综合[J].机械传动,2023,47(07):17-24. DOI: 10.16578/j.issn.1004.2539.2023.07.003.
Mao Jiang,Zhu Xiaofei,Chen Jin,et al.Type Synthesis of 2T2R Parallel Mechanisms Based on Optimal Transmission[J].Journal of Mechanical Transmission,2023,47(07):17-24. DOI: 10.16578/j.issn.1004.2539.2023.07.003.
为了综合得到具有最优传递性能和大姿态角的一类两移两转(2T2R)并联机构,结合螺旋理论和支链构造法,提出了一种并联机构型综合方法。以2-RPS机构作为基础支链,运用螺旋理论对新增支链的约束类型进行分类,给出了支链构造准则,确保并联机构自由度不变;结合机构运动和力传递特性,利用螺旋理论筛选出具有最优传递性能指标的机构支链,构型综合出具有最优传递性能的2T2R并联机构;最后,对一种新型2-RPS-UPS并联机构进行了运动学分析,借助Matlab求解出了机构工作空间。结果表明,新构型综合的并联机构具有最优传递性能和良好的姿态能力。
To synthesize a class of 2T2R parallel mechanisms with optimal transmission and large tilting ability
a type synthesis method for parallel mechanisms is proposed by combining the screw theory and the limb construction method. Taking the 2-RPS mechanism as the basic limb
the screw theory is used to classify the constraint types of the new limb
and the limb construction criterion is given to ensure that the degrees of freedom of the parallel mechanism remain unchanged. Combined with the characteristics of motion/force transmission of the mechanism
the limb with the maximum transmission index is selected by using the screw theory
and the 2T2R parallel mechanism with the optimal transmission is synthesized. Finally
the kinematics analysis of a novel 2-RPS-UPS parallel mechanism is carried out
and the workspace of the mechanism is solved by Matlab. The results show that the synthesized parallel mechanism has optimal transmission and large tilting ability.
并联机构型综合螺旋理论最优传递性能大姿态角
Parallel mechanismType synthesisScrew theoryOptimal transmissionLarge tilting ability
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