摘要
基于方位特征集理论,确定1T2R和2T1R两运动模式串联支链的最小范围的方位特征集,综合得到许多两运动模式的新支链结构;依据最大线性向量的相关性,确定1T2R和2T1R两运动模式并联机构的组合方案;并分析优选的两运动模式的并联机构不同运动模式下的运动特征。研究结果表明:综合得到的并联机构只要在锁住分岔支链其中一个转动副的条件下驱动,则机构通过分叉点能够实现1T2R与2T1R运动模式的切换。
Based on the theory of position and orientation characteristics(POC)set,the minimum range POC set of serial branch with both 1T2R and 2T1R motion mode was indentified,many novel branches with two motion modes were synthesized.A conbined schemes of parallel mechanism with both 1T2R and 2T1R motion mode was completed by referring to correration of maximum linear vector,finally.Under different motion mode,the kinematical feature of the optimal parallel mechanism with two motion mode was analyzed.The research results show that when the synthetical parallel mechanism is driven under the premise of one of the revolution pairs of the bifurcated branch is locked,motion mode shift from 1T2R to 2T1R can be finished through the bifurcated position.
作者
陆彩满
刘艳梨
古亮
吴洪涛
LU Caiman;LIU Yanli;GU Liang;WU Hongtao(Department of Mechanical Engineering,Jiangsu College of Safety Technology,Xuzhou Jiangsu 221011,China;School of Electrical and Mechanical,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China;School of Electrical Engineering,Chongqing University of Technology,Chongqing 400054,China)
出处
《机床与液压》
北大核心
2021年第17期38-48,共11页
Machine Tool & Hydraulics
基金
国家自然科学基金面上项目(51975277)。
关键词
并联机构
两运动模式支链
运动模式切换
分叉点
Parallel mechanism
Branch with two motion modes
Shift of motion mode
Bifurcated position
