一种低耦合2T2R并联机构的设计与分析

Design and Analysis of a Kind of Low Coupling 2T2R Parallel Mechanism

针对传统并联机构结构复杂、位置分析困难、强耦合、不易控制等问题,设计了一种新型低耦合2T2R并联机构。首先,基于方位特征集理论对该机构进行了运动特性分析;然后,为将运动学方程维数降到最小,运用序单开链理论对该机构进行了合理分解和位置建模;最后,结合具体实例进行了分析验证。结果表明,该机构自由度为4,其动平台可实现两平移和两转动;耦合程度较低,具有运动输入—输出部分解耦性;位置方程简单,可解析求解。

Aiming at the complicated structure,difficult position analysis,strong coupling and hard to control of tradition parallel mechanism,a new type of low coupling 2T2R parallel mechanism is designed.First of all,the new 2T2R mechanism is analyzed for the kinematics based on position and orientation characteristics(POC)set theory.Then,in order to minimize the kinematics equation dimensions,using a single open chain theory to break down the mechanism and build the location analysis model.Finally,analysis and verification with specific examples is conducted.The results show that the mechanism is four degrees of freedom,the mobile platform can achieve two translation and two rotation.The structure is low degree of coupling,having motion input-output partially of the decoupling makes the position equation of this mechanism simple,and the equation can be solved analytically.