一种新型两平移两转动并联机构的拓扑设计及其运动学性能分析

Topological Design and Kinematic Performance Analysis of a New Parallel Mechanism with Two Translations and Two Rotations

首先,基于并联机构拓扑结构设计方法设计了两平移两转动(2T2R)并联机构,其耦合度为1,并计算了方位特征(Position Orientation Characteristics,POC)集、约束度和自由度;其次,分析了该机构的拓扑特征运动学,求解了该机构的位置正解与位置反解,验证了正解与反解的正确性;最后,基于位置反解对该机构的奇异性、工作空间进行分析计算,得到了机构可能发生的奇异位置,并求得了机构的最大可达空间。这为机构的动力学和动平衡研究以及样机制造奠定了基础。

Firstly,based on the topological structure design method of the parallel mechanism,a two-translation and two-rotation(2T2R)parallel mechanism is designed.Its coupling degree is 1,and the position orientation characteristics(POC)set,constraint degree and degree of freedom are calculated.Secondly,the to-pological characteristic kinematics of the mechanism is analyzed,and the forward and inverse position solutions of the mechanism are solved,which verifies the correctness of the forward and inverse solutions.Finally,based on the inverse position solution,the singularity and workspace of the mechanism are analyzed and calculated,the possible singular position of the mechanism is obtained,and the maximum reachable space of the mecha-nism is obtained,which lay a foundation for the dynamics and dynamic balance research of the mechanism,as well as the manufacturing of the prototype.