新型并联机构((2-RPR&RP)+R)&UPR构型及位置逆解分析

Configuration and Inverse Position Solution Analysis of a Novel((2-RPR&RP)+R) &UPR Parallel Mechanism

提出了一种新型1T2R大摆角并联机构。首先,运用螺旋理论中运动和约束的关系分析了该机构实现1T2R运动原理,计算出该机构的自由度,进行了输入选取;然后,利用解析矢量法及几何关系建立机构位置逆解方程;最后,应用MATLAB对逆解方程进行求解并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可实现性。该并联机构可实现大的摆角,可作为并联模块应用于混联机床,实现大摆角五轴联动加工。

A novel large swing angle 1T2R parallel mechanism is proposed. First, the one - dimensional translational and two -dimensional rotation motion of this mechanism are analyzed based on the relation of motion and constraint in screw theory. The DOF of the mechanism is calculated, and the driving joints are chosen. Then, the inverse position solution equation of the mechanism is established by using analytical vector method and the geometric relation. At last, the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS, which verify that the correctness of the inverse position solution model and the realizability of the mechanism. This parallel mechanism with a large swing angle, can be used in hybrid machine of parallel modules to achieve large swing angle five -axis machining.