基于方位特征方法的范例并联机构的拓扑特征分析及其启示与应用

Position and Orientation Characteristic Based Method and Enlightenment for Topology Characteristic Analysis of Typical Parallel Mechanisms and Its Application

机构拓扑结构特征是并联机构固有的拓扑不变量,反映了机构的结构学、运动学及动力学基本特性;剖析在设计与应用上较为成功的范例并联机构的拓扑结构特征,对并联机构的研究具有借鉴和启示作用。应用基于方位特征（Position and orientation characteristic,POC）的并联机构拓扑结构设计理论与方法,对2~6-DOF的34种范例并联机构,即已推广运用的8种著名并联机构Delta、Diamond、Tricept、Tri Variant、Exechon、Z3、H4、Steward以及26种具有潜在应用价值的并联机构,进行拓扑结构分析,分别给出其拓扑结构特征,并总结出共性规律。基于此,研发出5自由度混联检测平台和喷涂机器人。研究结果表明,应用基于POC的并联机构拓扑结构设计理论与方法,可较好地揭示出包括范例并联机构在内的所有机构的拓扑结构特征;而从中得到的机构设计与应用的一些共性规律,可对并联机构的理论研究、工业设计和应用提供重要参考和启示。

The topological structure characteristics of a mechanism are innate topological invariants of the mechanism which reflect the essential features of structural theory,kinematics and dynamics.Through deeply analyzing the topological structure characteristics of the parallel mechanisms which are succeeded in design and application,beneficial enlightenment and lessons can be gotten.By using position and orientation characteristic（POC） method based topological structure synthesis theory,the 8 famous parallel mechanisms,which include Delta,Diamond,Tricept,Tri Variant,Exechon,Z3,H4 and Stewart mechanism,and 26 parallel mechanisms which have large promoted value,are analyzed,from which,the topological structure characteristics are obtained and some common rules are concluded.Based on this,a 5-DOF hybrid testing platform and a 5-DOF hybrid spraying robot are successfully developed.The result shows that POC method based topological structure synthesis theory can well reveal key topological properties of all parallel mechanisms in industry,while these common rules for design and application of parallel mechanisms obtained provide an important reference and enlightenment for theory research,industrial design and application of parallel mechanisms.