解耦机构研究现状与分析

Current Status and Analysis of Decoupling Mechanism

解耦构型能够通过特定驱动,实现独立的位姿输出,能够避免机构许多不必要的输出特征,输出响应时间快、能耗低、运动标定简单,具有广阔的应用前景。通过对各种型综合方法及流程的对比分析,以解耦构型综合为目标,提出了解耦构型综合的统一流程;揭示了解耦设计的关键是实现支链约束关系解耦;提出了支链解耦设计运动副轴线空间方向及位置的约束关系。根据支链中运动副的排列顺序对末端输出特征的影响,设计了实现平移与转动的解耦方法。结合解耦机构在工业、精密工程、医疗及仿生机构等领域的应用,指出了解耦机构的研究方向及应用延伸领域。

The decoupling configuration can achieve independent posture output through a specific drive,which can avoid many unnecessary output characteristics of the mechanism.The decoupling mechanism has broad application prospects for fast response time,low energy consumption and simple calibration.The unified type synthesis procedure is proposed through the comparative analysis of various decoupling type synthesis methods.The decoupling of the branch-chain constraint relationship is the key of the decoupling mechanism design.The constraint relation on the spatial direction and position of the kinematic pair axis is proposed.According to the influence of the arrangement order of the kinematic pair in the branch strand chain,the decoupling method is designed.Combined with the application of the decoupling mechanism in industry,precision engineering,medical treatment and bionic institutions,the research direction and application extension field of the decoupling mechanism are pointed out.