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基于POC法的多環(huán)耦合并聯(lián)機構(gòu)拓撲特征分析
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國家自然科學(xué)基金項目(51375062,、51475050,、51405039)和江蘇省產(chǎn)學(xué)研前瞻性聯(lián)合研究項目(BY2015027—24)


POC Method Based Topology Characteristic Analysis of Multi-loop Coupled Mechanisms
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    摘要:

    應(yīng)用基于POC集和SOC單元的并聯(lián)機構(gòu)拓撲結(jié)構(gòu)設(shè)計方法(簡稱POC法),對2個典型的多環(huán)耦合機構(gòu)進行了拓撲特性分析,,分析表明,,需要在相應(yīng)的自由度公式和約束度公式中,,減去相應(yīng)的“耦合次數(shù)”,才能計算出正確的機構(gòu)自由度和耦合度,,拓撲特征的總體計算過程,、步驟和一般并聯(lián)機構(gòu)的拓撲特征分析相同;同時表明,,POC法能有效分析多環(huán)耦合并聯(lián)機構(gòu),,且物理、幾何意義明確,,操作簡便易懂,;多環(huán)耦合機構(gòu)的結(jié)構(gòu)看似復(fù)雜,但其耦合度相對較低,,其運動學(xué),、動力學(xué)分析并不很復(fù)雜,因此,,也具有一定的應(yīng)用推廣價值,,當然,,其應(yīng)用的背景本身有待探索,。

    Abstract:

    Multi-loop coupled mechanism is a new kind of complicated mechanism which has been used in bio-robot, aviation, refuge and other areas. However, it is deficient in theoretical study. The most basic understanding for a new mechanism is to realize its mobility. Multi-loop coupled mechanism, i.e., serial-parallel hybrid mechanism, is different from the general parallel mechanism,, and the former is coupled with each other among the branch chains.Therefore, the analysis of topology structure characteristic of multi-loop coupled mechanism is much more complex.Using the topological structure synthesis theory for parallel mechanism based on POC set and SOC unit ( POC method, for short),,the two classic multi-loop coupled mechanisms, symmetrical and asymmetrical ones, were analyzed. The correct degree of freedom and coupling degree could be calculated only if “coupling-number” was subtracted correspondingly by number of degree of freedom (DOF) and constrain degree when using the corresponding DOF formula and constrain formula.The coupling-number meant the coinciding number for over three branch chains, which was similar to the multiple-kinematic joint in the planar linkages. The result demonstrated that POC method can effectively analyze the multi-loop coupled mechanisms, and its physical and geometrical meanings were clear and the operation was simple and easy to understand. The structure of the multi-loop coupled mechanisms was seemingly complex,but its coupling degree was relatively low compared with 6-SPS Stewart-Gough platform with coupling degree of 3, and the kinematics and dynamic analyses were not complex.Therefore,,the multi-loop coupled mechanisms have potential application value, and the application background still needs to be explored.

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沈惠平,邵國為,朱小蓉,朱偉.基于POC法的多環(huán)耦合并聯(lián)機構(gòu)拓撲特征分析[J].農(nóng)業(yè)機械學(xué)報,2016,47(4):349-354. Shen Huiping, Shao Guowei, Zhu Xiaorong, Zhu Wei. POC Method Based Topology Characteristic Analysis of Multi-loop Coupled Mechanisms[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(4):349-354.

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  • 收稿日期:2015-09-19
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  • 在線發(fā)布日期: 2016-04-10
  • 出版日期: 2016-04-10
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