一种单自由度3T1R并联机构的拓扑设计及其运动学

Topological Design and Kinematics of 3T1R PM with Single Degree of Freedom

根据基于方位特征方程的并联机构拓扑设计理论和拓扑降耦设计方法,设计了一种新的少输入-多输出(Fi-Mo)型单自由度三平移一转动(3T1R)输出的并联机构,对其拓扑特性进行了分析,给出了该机构的方位特征集、自由度及耦合度κ;根据基于序单开链的运动学建模原理,给出了该机构的位置正解求解方法及其数值解;同时导出了其位置反解求解公式及机构的速度与加速度公式,并进行了速度与加速度的仿真。最后给出了该机构可用作并联振动筛的3D虚拟样机设计。研究结果为该类单自由度3T1R型并联振动筛机构的尺寸优化设计、样机研制打下了基础。

According to the topology design theory and decoupling-reducing design method of PM based on the position orientation characteristic(POC) equations, a new single degree of freedom(1-DOF) fewer-input more-output (Fi-Mo) PM with three-translation and one-rotation motion(3T1R) output was designed. Topological characteristic analysis of the PM was also performed, which includes POC set,DOF and coupling degree. Then, solution of direct kinematics was established according to the kinematics modeling principle based on ordered single opened chain(SOC), and numerical solutions of the PM were given. The inverse position solution formula as well as the velocity and acceleration formula were also solved and simulated. Finally, the 3D virtual prototype of the Fi-Mo PM was designed that may be used as a parallel vibrating screen. The research results herein lay a foundation for the dimensional optimization design and development of the 3T1R parallel vibrating screens.