基于SKC的新型3T并联机构的运动学、奇异性和工作空间分析

赵一楠; 沈惠平; 陆晨芳; 黄晓萍

doi:10.16578/j.issn.1004.2539.2023.07.009

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基于SKC的新型3T并联机构的运动学、奇异性和工作空间分析

设计计算 | 更新时间：2023-08-14

- 基于SKC的新型3T并联机构的运动学、奇异性和工作空间分析
- Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC
- 机械传动 2023年47卷第7期页码：58-68
- 作者机构：
  
  1.南京机电职业技术学院，江苏南京 211306
  2.常州大学现代机构学研究中心，江苏常州 213016
- 作者简介：
  
  赵一楠（1995— ），男，江苏南京人，硕士，助教；研究方向为并联机构与机器人机构学；936515322@qq.com。
- 基金信息：
  
  国家自然科学基金项目(51975062┫江苏省青蓝工程优秀教学团队“机械产品数字化创新”)
- DOI：10.16578/j.issn.1004.2539.2023.07.009
  中图分类号：
- 纸质出版日期：2023-07-15，
  
  收稿日期：2022-05-25，
  
  修回日期：2022-07-16，
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赵一楠,沈惠平,陆晨芳等.基于SKC的新型3T并联机构的运动学、奇异性和工作空间分析[J].机械传动,2023,47(07):58-68.

Zhao Yi'nan,Shen Huiping,Lu Chenfang,et al.Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC[J].Journal of Mechanical Transmission,2023,47(07):58-68.
赵一楠,沈惠平,陆晨芳等.基于SKC的新型3T并联机构的运动学、奇异性和工作空间分析[J].机械传动,2023,47(07):58-68. DOI： 10.16578/j.issn.1004.2539.2023.07.009.

Zhao Yi'nan,Shen Huiping,Lu Chenfang,et al.Kinematics, Singularity and Workspace Analysis of a Novel 3T Parallel Mechanism Based on SKC[J].Journal of Mechanical Transmission,2023,47(07):58-68. DOI： 10.16578/j.issn.1004.2539.2023.07.009.

摘要

基于方位特征（POC）方程的并联机构拓扑设计理论与方法，设计了一种可用于抓取的新型三平移（3T）并联机构。首先，阐述了整个机构的设计过程并对机构的基本拓扑特征进行了分析计算，证明该机构包含两个耦合度

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=45810680&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=45810677&type=

2.03200006

2.62466669

为0的子运动链（SKC）；接着，根据基于拓扑特征的并联机构运动学建模原理，以SKC为序，分别对机构的位置正、反解及其构型进行了求解与分析；然后，根据基于SKC的奇异性分析方法，计算分析了该机构每个SKC内部发生第一和第二类奇异时对应的奇异位形；最后，分析并选取出该机构内部速度传递因数指标较优的任务工作空间。研究为该机构后续的刚度、动力学分析及工程样机设计奠定了基础。

Abstract

According to the theory and method of topological design of the parallel mechanism (PM) based on position and orientation characteristic (POC) equations

a novel three-translation (3T) parallel mechanism for grasping is proposed. Firstly

the design process of the entire PM is described and the main topological features of the mechanism are analyzed. It is proved that the mechanism contains two sub-kinematics chains (SKCs） whose coupling degree equals 0. Secondly

according to the kinematics modeling principle for parallel mechanism based on topological features

the direct kinematics problem (DKP) and inverse kinematics problem (IKP) of the mechanism are solved according to the order of SKC. Then

according to the singularity analysis method based on SKC theory

the first and second kind of singular configurations in each SKC are analyzed. Finally

the task workspace with the optimal internal velocity transmission factors index of the mechanism is analyzed and selected. This study lays the foundation for the stiffness

dynamics and engineering prototype design of the mechanism.

关键词

并联机构子运动链耦合度速度传递因数工作空间

Keywords

Parallel mechanismSub-kinematics chainCoupling degreeVelocity transmission factorWorkspace

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