一种分岔混联机构的结构与运动模式分析

Analysis of the structure and motion mode of a bifurcated hybrid mechanism

目前机器人领域的研究对象主要集中在单一自由度的机构上,对于变自由度机构的研究缺少足够的重视,因此本文对变自由度的机构进行了探索性的研究。研究的对象是一种具有运动分岔特性的并联机构,可以实现多种自由度模式的切换。这种运动分岔机构在初始形态下,具有绕两个相互垂直方向的瞬时转动,但在持续运动模式下,可分为A模式和B模式,分别是围绕x轴和y轴的持续转动,在此基础上,构建混联支链,组建运动分岔并连机构,可以实现3T3R运动模式、3T运动模式、2R1T运动模式(xy面、yz面转)、2R1T运动模式(xy面、空间转)、1R2T运动模式。因此这种多自由度机构大大拓展了其应用范围和处理复杂问题的灵活性,这是单一自由度机构所实现不了的。

At present,the research in the field of robotics is mainly focused on single degree of freedom mechanisms,and there is a lack of attention to the research of variable degree of freedom mechanisms.Therefore,this article explores the variable degree of freedom mechanism.The research object is a parallel mechanism with motion bifurcation characteristics,which can switch between modes of multiple degrees of freedom.The motion bifurcation mechanism has instantaneous rotation around two mutually perpendicular directions in its initial form,but in continuous motion mode,it can be divided into A mode and B mode,which are continuous rotation around the x-axis and y-axis,respectively.Based on this,a hybrid branch chain is constructed to form a motion bifurcation parallel mechanism,which can achieve 3T3R motion,3T motion,2R1T motion(xy plane and yz plane rotation),2R1T motion(xy plane and spatial rotation),and 1R2T motion.Therefore,this multiple degree of freedom mechanism greatly expands its application range and flexibility in handling complex problems,which cannot be achieved by a single degree of freedom mechanism.