3(3-RPS)并-串联机构及其运动学分析研究

3(3-RPS) Parallel-serial manipulator and its kinematics analysis

针对并联机构运动学和动力学性能方面存在的问题,提出了一种新结构-3(3-RPS)并-串联机构,对3(3-RPS)并-串联机构进行了运动学方面的研究,对3(3-RPS)并-串联机构的结构特点进行了介绍,利用螺旋理论及修正的Kutzbach–Grüble公式对3(3-RPS)并-串联机构进行了自由度计算,利用机构影响系数法和螺旋理论对3(3-RPS)并-串联机构的速度和加速度进行了建模,得到了3(3-RPS)并-串联机构速度和加速度的理论模型,利用工程分析软件ADAMS和Abaqus对3(3-RPS)并-串联机构进行了运动学仿真及结构受力分析,得到了上平台在空间中的速度和加速度曲线变化图与机构的结构受力变形图。研究结果表明:3(3-RPS)并-串联机构的自由度数为9,速度和加速度值等于各层之和;本研究分析3(3-RPS)并-串联机构运动学的方法也适合其他并-串联机构。

Aiming at the kinematics and dynamics performance of parallel mechanism,a novel structure-the 3(3-RPS) parallel-serial manipulator was proposed,and its aspects of the kinematics were studied. The 3(3-RPS) parallel-serial manipulator structural features were introduced,and the degrees of freedom of the 3(3-RPS) parallel-serial manipulator were calculated based on screw theory and Kutzbach-Grüble formula. The velocity and the acceleration models of the 3(3-RPS) parallel-serial manipulator were established based on the theory of influence coefficient and screw theory,and the velocity and the acceleration theoretical models of the 3(3-RPS) parallel-serial manipulator were given. The kinematic simulation and mechanical analysis to the 3(3-RPS) parallel-serial manipulator were done by engineering analysis software ADAMS and Abaqus,and curves of velocity and acceleration of the top platform in space and distribution of stress deformation of mechanism were given. The results indicate that the degrees of freedom of the 3(3-RPS) parallel-serial manipulator are 9,and the velocity and the acceleration value are equal to the sum of the layers. The methodology for analyzing the 3(3-RPS) parallel-serial manipulator kinematics is also suitable for other parallel-serial manipulators.