机械科学与技术2017，Vol.36Issue(12)：1866-1872,7.DOI:10.13433/j.cnki.1003-8728.2017.1211
3-(R)RR平面并联机构的拓扑结构优化及其运动学性能改善
Optimizing Topological Structure of 3-(R)RR Plane Parallel Mechanism and Improving its Kinematic Performance
摘要
Abstract
The typical 3-(R)RR planar parallel mechanism has two translations and one rotation and thus is a kind of extensively applied plane location and transfer equipment.Firstly,the coupling degree of the parallel mechanism is calculated to be k =1.Then,based on the structural coupling reduction principle,this paper designs its coupling reduction mechanism with zero coupling degree,which not only leads to its easy analytic direct kinematic solution but also makes the input and output of the moving platform partially motion-decoupling.Moreover,the workspace and singularity of this coupling reduction mechanism are also performed.Finally,the comprehensive comparison of two types of the coupling reduction mechanism shows that the main performance of the structural coupling reduction mechanism is better than that of the original mechanism,indicating that the structural coupling reduction mechanism is an effective method for optimizing the topological structure.关键词
平面并联机构/位置正解/结构降耦/性能分析Key words
planar parallel mechanism/direct kinematics/topological structure/coupling-reduction mechanism/performance analysis分类
机械制造引用本文复制引用
许可,沈惠平,邓嘉鸣,杨廷力..3-(R)RR平面并联机构的拓扑结构优化及其运动学性能改善[J].机械科学与技术,2017,36(12):1866-1872,7.基金项目
国家自然科学基金项目(51375062,514755050)与江苏省重点研发计划项目(BE2015043)资助 （51375062,514755050）
