机械工程学报 >

2018 , Vol. 54 >Issue 7: 28 - 37

DOI: https://doi.org/10.3901/JME.2018.07.028

机构学及机器人

一种可重构并联机构的几何约束和自由度分析

  • 王冰 ,
  • 方跃法
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  • 北京交通大学机械与电子控制工程学院 北京 100044
王冰,男,1976年出生,博士研究生,副教授。主要研究方向为机构学与机器人学。E-mail:13116337@bjtu.edu.cn

收稿日期: 2017-03-13

  修回日期: 2017-10-21

  网络出版日期: 2018-04-05

基金资助

国家自然科学基金资助项目（51675037）。

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Geometric Constraint and Mobility Analysis of a Reconfigurable Parallel Mechanism

  • WANG Bing ,
  • FANG Yuefa
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  • School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044

Received date: 2017-03-13

  Revised date: 2017-10-21

  Online published: 2018-04-05

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摘要

提出一种可重构空间五杆机构，其具有两种不同的工作模式，模式一为平面二自由度运动，模式二为一个转动运动，两种运动模式进行切换的初始位形具有瞬时的平面二自由度运动和一个转动。将可重构空间五杆机构与一个具有一个转动副和一个球副的串联支链相连，构成一种具有两种不同工作模式的可重构混联支链。利用三条可重构混联支链连接并联机构的运动平台和固定平台，得到一种可重构并联机构，通过控制可重构空间五杆机构在不同工作模式间切换，可重构并联机构可实现四种不同的运动模式。利用螺旋理论分析和证明了上述结论。

关键词： 并联机构; 可重构机构; 自由度; 螺旋理论

本文引用格式

王冰 , 方跃法 . 一种可重构并联机构的几何约束和自由度分析[J]. 机械工程学报, 2018 , 54(7) : 28 -37 . DOI: 10.3901/JME.2018.07.028

Abstract

A novel reconfigurable spatial five-bar mechanism with two different operation modes is proposed. The mechanism has one planar two degree of freedom motion mode, one rotational motion mode, one planar two degree of freedom and rotational motions mode in the initial configuration where the mechanism can transit from one operation mode to another, respectively. Reconfigurable hybrid chain with two distinct phases is obtained by integrating the reconfigurable spatial five-bar mechanism with a serial limb that has one revolute and one spherical joint. A new kind of reconfigurable parallel mechanism is constructed with three identical hybrid chains connecting the moving platform and fixed base. By controlling the reconfigurable five-bar mechanism move into different motion modes, the reconfigurable parallel mechanism has the ability to perform four kinds of motion with different degree of freedom. The special mobility of the mechanisms are analyzed and proved by using screw theory.

Key words： parallel mechanism; reconfigurable mechanism; mobility; screw theory

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