机械工程学报 >

2018 , Vol. 54 >Issue 1: 223 - 232

DOI: https://doi.org/10.3901/JME.2018.01.223

数字化设计与制造

少输入-多输出并联机构的设计方法及其应用

  • 沈惠平 ,
  • 邓嘉鸣 ,
  • 孟庆梅 ,
  • 李菊 ,
  • 朱伟
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  • 常州大学现代机构学研究中心 常州 213164
沈惠平,男,1965年出生,教授,博士研究生导师。主要研究方向为并联机构、机器人机构学。E-mail:shp65@126.com

收稿日期: 2017-02-27

  修回日期: 2017-05-21

  网络出版日期: 2018-01-05

基金资助

国家自然科学基金资助项目（51375062，51475039，51075045）。

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Design Methods and Applications for the Fewer Input-More Output Parallel Mechanisms

  • SHEN Huiping ,
  • DENG Jiaming ,
  • MENG Qingmei ,
  • LI Ju ,
  • ZHU Wei
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  • Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213164

Received date: 2017-02-27

  Revised date: 2017-05-21

  Online published: 2018-01-05

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摘要

研究提出少输入-多输出（Fewer input-More output，Fi-Mo）并联机构的设计方法及其潜在应用前景，为基于较少驱动输入而动平台具有多个独立及其伴随输出运动机构的装备设计提供理论基础。建立Fi-Mo并联机构的驱动输入数W、自由度数（Degree of freedom，DOF）及其输出方位数Nout三者的数学模型；给出了（1～5）-DOF Fi-Mo并联机构的所有基本类型；提出了Fi-Mo并联机构设计的基于驱动副逐个固化——等效支链替代的演化法，以及基于构造含伴随运动支链的设计法；分别以一平移两转动输出、三转动输出的Fi-Mo并联机构为例，详细说明了这两种设计方法的设计过程；介绍基于单自由度Fi-Mo并联机构的三种多维并联振动筛的研制及其试验情况。研究表明：Fi-Mo并联机构研究可望成为一个重要的研究方向，对产业发展所需的新型节能装备设计具有较好的指导作用。

关键词： 少输入-多输出; 并联机构; 伴随运动; 方位特征集; 有序单开链

本文引用格式

沈惠平 , 邓嘉鸣 , 孟庆梅 , 李菊 , 朱伟 . 少输入-多输出并联机构的设计方法及其应用[J]. 机械工程学报, 2018 , 54(1) : 223 -232 . DOI: 10.3901/JME.2018.01.223

Abstract

The design methods and potential applications for the parallel mechanisms with fewer input-more output (Fi-Mo) are proposed. The purpose of the investigation is to provide the theoretical basis for the design of equipment obtaining more output motions containing both independence motions and derivative ones through fewer actuated inputs. A mathematical model that correlates the number of actuated inputs, degrees of freedom (DOF) and number of output position and orientation (Nout) is established. Furthermore, all basic types of Fi-Mo PMs are put forward. Accordingly, two design methods for Fi-Mo PMs are proposed. The first method is based on fixing one by one the actuated inputs and replacing chains with an equivalent chain. The second method is based on constructing such chains that contain parasitic motions. These two methods are then illustrated by designing a 1-DOF one translation and two-rotation Fi-Mo PM and a 1-DOF three-rotation Fi-Mo PM, respectively. Three multi-dimension parallel vibrating screens with one-input are developed according to the corresponding 1-DOF Fi-Mo PMs proposed. The investigation indicates that Fi-Mo PMs are expected to be an important research topic and will have important theoretical and practical value for novel energy-saving equipment designs which are needed for industrial development.

Key words： fewer input-more output; parallel mechanism; parasitic motion; position and orientation characteristics

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