一种圆球面平移和一维转动并联机构的设计与分析

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

基于方位特征集并联机构拓扑设计理论及弯曲平移理论,设计了一种新型3自由度低耦合度的具有圆球面平移和一转动(2T1R)的并联机构。对该机构进行了拓扑特性分析,主要包括方位特征集、自由度以及耦合度计算;对机构进行了运动学分析,求解机构位置的正逆解,并对该机构进行了数值验证;基于机构的位置正逆解方程,分析了机构的工作空间以及转动能力分布。本文的工作为该机构后续的尺度优化、误差分析以及动力学分析奠定了基础。

Based on the topological design theory of a parallel mechanism with orientation feature set and bending translation theory,a new parallel mechanism with circular spherical translation and one rotation(2T1R)with 3 degrees of freedom(DOF)and low coupling is designed and topological characteristics of the mechanism are analyzed,including the orientation feature set,degrees of freedom and coupling calculation.The kinematics of the mechanism is analyzed,and the forward and inverse solutions of the position of the mechanism are solved and verified.Finally,based on the positive and negative equations of the mechanism,the workspace and the rota⁃tion capacity distribution of the mechanism are analyzed.The work in this study lays the foundation for the sub⁃sequent scale optimization,error analysis and dynamics analysis of the mechanism.