农业机械学报2024，Vol.55Issue(5)：449-458,10.DOI:10.6041/j.issn.1000-1298.2024.05.043
正解符号化且运动解耦的2T1R并联机构拓扑设计与分析
Topological Design and Analysis of Novel 2T1R Parallel Mechanism with Symbolic Forward Solutions and Motion Decoupling
摘要
Abstract
Based on the design theory and methodology of parallel mechanisms(PM)based on position and orientation characteristics(POC)equations,a two-translation-rotation(2T1R)PM was designed.It consisted of low pairs and possesses symbolic forward solutions as well as partial motion decoupling.The primary topological features of the PM,including POC,degree of freedom,coupling degree,and motion decoupling were analyzed.Subsequently,based on the kinematic modeling principle derived from topological characteristics,symbolic position forward and inverse solutions for the PM were obtained.Simultaneously,singularity analysis was conducted by using the inverse position solution while solving for the workspace of the PM based on symbolic solutions.Furthermore,employing a sequential single-open-chain method grounded in virtual work principles enables dynamic performance analysis of the PM along with calculation of actuated forces exerted on its three driving pairs.The maximum driving forces required for the three sliders were-58.52 N,47.28 N and 64.10 N,respectively.Ultimately,this PM can be utilized as an end-effector and safety lander for UAVs;their conceptual design was elaborated upon.The research can provide a theoretical basis for kinematics and dynamics modeling and analysis of 2T1R parallel mechanism symbolized by positive solution and kinematically decoupled,as well as mechanism performance optimization and prototype development.关键词
并联机构/拓扑分析/运动学/工作空间/奇异性/逆动力学Key words
parallel mechanism/topological analysis/kinematics/workspace/singularity/inverse dynamics分类
机械制造引用本文复制引用
沈惠平,孔祥超,李菊,叶鹏达..正解符号化且运动解耦的2T1R并联机构拓扑设计与分析[J].农业机械学报,2024,55(5):449-458,10.基金项目
国家自然科学基金项目(52375007、51975062)和江苏省产业前瞻与关键核心技术重点项目(BE2021016-2) （52375007、51975062）
