新型高性能平面轨迹导引机构的设计与分析

Design and Analysis of Novel High Performance Plane Trajectory Guidance Mechanisms

提出了一种可实现平面轨迹导引的新型机构设计方法。该类机构一侧支链为串联机构,另一侧支链为可控五杆机构,通过两条支链的协调运动,使得末端操作器在运动过程中,支链两侧所受的力与速度保持一致。这一设计克服了串联机构精度受限的缺点,同时可通过可控五杆机构实现轨迹精确导引。基于螺旋理论的方法综合出一系列导引机构。对导引机构进行运动学与性能分析;基于速度雅可比矩阵,分析了机构的静刚度,并与串联机构进行了对比。以高铁转向架U型槽研磨任务为例,对机构进行了设计分析、轨迹规划与仿真研究,验证了设计方法的正确性。

A new mechanism design method for planar trajectory guidance is proposed.One chain of this mechanism is a serial mechanism,and the other is a controllable five-bar mechanism.Through the coordinated motion of two branches,the force and speed on both sides of the branched chain are consistent in the motion of end effector.This design overcomes the shortcomings of the limited precision of the series mechanism,and simultaneously realizes the accurate guidance of the trajectory through the controllable five bar mechanism.A series of guiding mechanism is synthesized based on the screw theory.The kinematics and performance analysis of the guiding mechanism are analyzed.The static stiffness of the mechanism is analyzed based on the velocity Jacobian matrix,and compared with the serial mechanism.Taking the grinding U-type trough of high speed bogie as an example,the design analysis,and trajectory planning studies of the mechanism are carried out.The simulation results verify correctness of the proposed design method.