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四自由度兩模式并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合與位置分析
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國(guó)家自然科學(xué)基金項(xiàng)目(51365036、51475050)


Type Synthesis and Position Analysis of 4-DOF Parallel Mechanisms with Two Operation Modes
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    摘要:

    為設(shè)計(jì)可實(shí)現(xiàn)一機(jī)多用的并聯(lián)機(jī)構(gòu),,提出了多模式并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)類型綜合方法以及操作模式分析方法,。首先利用方位特征集方法,,綜合得到一類(640種)具有運(yùn)動(dòng)分岔特性的4自由度并聯(lián)機(jī)構(gòu),;然后從中優(yōu)選出一種機(jī)構(gòu)進(jìn)行操作模式分析,,分析結(jié)果表明:機(jī)構(gòu)處于分岔奇異點(diǎn)時(shí)動(dòng)平臺(tái)瞬時(shí)自由度為5,,此時(shí)采用冗余驅(qū)動(dòng)的方法可引導(dǎo)動(dòng)平臺(tái)通過(guò)分岔奇異點(diǎn)順利到達(dá)三平移一轉(zhuǎn)動(dòng)或兩平移兩轉(zhuǎn)動(dòng)模式,;最后推導(dǎo)了該并聯(lián)機(jī)構(gòu)處于上述2種操作模式時(shí)的位置正、逆解分析方程,,得知位置逆解方程和三平移一轉(zhuǎn)動(dòng)模式時(shí)的位置正解方程均可解析求解,。

    Abstract:

    To develop reconfigurable manufacturing systems with a short changeover time, parallel mechanisms with multiple operation modes had received much attention from researchers. However, the current researches on multiple modes were mostly concentrated on the 3-DOF parallel mechanisms. A simple method of type synthesis and operation mode analysis for 4-DOF parallel mechanisms with both two-dimension translation and two-dimension rotational operation mode and three-dimension translation and one-dimension rotational operation mode was put forward. Type synthesis of 4-DOF parallel mechanisms was introduced based on the theory of position and orientation characteristics. And one family of 4-DOF parallel mechanisms with two operation modes was presented. Then, one topology was selected from the different possibilities of parallel manipulators after imposing some practical requirements. The selected parallel manipulator had instantaneously five degrees of freedom at the constraint singular configuration. The parallel manipulator must pass through singular configuration when it was switched from one operation mode to another. Redundant actuators were used to ensure that the parallel manipulator can pass through the singular configuration. Finally, the forward and inverse kinematic equations of the parallel manipulator with bifurcated motion in different operation modes were derived. The parallel manipulator presented was intended to be used in manufacturing application.

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石志新,葉梅燕,羅玉峰,楊廷力.四自由度兩模式并聯(lián)機(jī)構(gòu)結(jié)構(gòu)綜合與位置分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2017,48(4):383-389. SHI Zhixin, YE Meiyan, LUO Yufeng, YANG Tingli. Type Synthesis and Position Analysis of 4-DOF Parallel Mechanisms with Two Operation Modes[J]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(4):383-389.

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  • 收稿日期:2016-08-02
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  • 在線發(fā)布日期: 2017-04-10
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