机械工程学报 >

2018 , Vol. 54 >Issue 5: 84 - 93

DOI: https://doi.org/10.3901/JME.2018.05.084

机构学及机器人

基于动平台铰接的概念设计一类含有螺旋副的并联机构

  • 汪从哲 ,
  • 张毅
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  • 重庆邮电大学先进制造工程学院 重庆 400065
张毅,男,1966年出生,博士,教授,博士研究生导师。主要研究方向为智能系统及机器人。E-mail:zhangyi@cqupt.edu.cn

收稿日期: 2017-01-14

  修回日期: 2017-06-13

  网络出版日期: 2018-03-05

基金资助

重庆市自然科学基金资助项目（CSTC2015jcyjBX0066）。

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Design a Series of Parallel Mechanisms with a Helical Joint Based on the Concept of Articulated Moving Platform

  • WANG Congzhe ,
  • ZHANG Yi
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  • School of Advanced Manufacturing Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065

Received date: 2017-01-14

  Revised date: 2017-06-13

  Online published: 2018-03-05

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摘要

通过总结含有铰接动平台的并联机构的共同特点，提出含有铰接动平台的并联机构的一般拓扑布局。该拓扑布局将并联机构分成了基座、铰接动平台和一级支链等三部分。基于位移子群/子流形的基本理论，提出一种用于综合具有该拓扑布局的并联机构构型的方法。设计了数种含有螺旋副且可实现两转动自由度或三转动自由度的铰接动平台，并根据所提出的构型综合方法，综合设计了一类2R、2R2T和3R并联机构。结果表明，所综合的并联机构的部分构型可以实现多个方向的整周转动，同时也验证了该综合方法的有效性。结合具有虚拟转动中心的机构的设计要求，简要讨论了所综合的并联机构在此条件下的应用方法。

关键词： 铰接动平台; 螺旋副; 李群理论; 虚拟转动中心; 并联机构

本文引用格式

汪从哲 , 张毅 . 基于动平台铰接的概念设计一类含有螺旋副的并联机构[J]. 机械工程学报, 2018 , 54(5) : 84 -93 . DOI: 10.3901/JME.2018.05.084

Abstract

Based on the common characteristics of parallel mechanisms (PMs) with an articulated moving platform (AMP), a general topology graph of PMs with an AMP is proposed. This topology graph divides a PM into three parts that are a base, an articulated moving platform and first-degree limbs. The methodology of structural synthesis corresponding to the topology graph is established based on displacement sub-group/sub-manifold theory. Several AMPs with a helical joint is proposed which have two rotational degrees of freedom (DOFs) or three rotational DOFs, and by means of the proposed methodology, PMs with 2R, 2R2T and 3R DOFs are synthesized. The result shows that some of the synthesized PMs can realize continuous 360° rotational motion in multiple directions, which proves the effectiveness of the proposed synthesis methodology. According to the requirements of designing mechanisms with virtual center of motion, the corresponding application of the synthesized PMs is addressed in brief.

Key words： articulated moving platform; helical joint; Li group theory; virtual center of motion; parallel mechanism

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