农业机械学报2025，Vol.56Issue(1)：497-506,10.DOI:10.6041/j.issn.1000-1298.2025.01.047
2-PRU-PRRPa并联机构运动学分析与性能优化
Kinematic Analysis and Optimization Design of 2-PRU-PRRPa Parallel Mechanism
摘要
Abstract
In view of the extensive research and application status of the two-rotation-one-translation three-DOF(degrees of freedom)parallel mechanism in five-axis hybrid machining equipment,and inspired by the excellent performance design of the commercial Exechon parallel manipulator,a 2-PRU-PRRPa parallel manipulator with a parallelogram sub-loop structure in its branches was proposed.Firstly,using screw theory for the analysis of the DOF,it was determined that the mechanism possessed two rotational and one translational degrees of freedom.Secondly,based on the closed-loop vector method,the inverse kinematics analysis of the mechanism was carried out,establishing the mapping relationship between the input of the driving joint and the output of the moving platform's end.Thirdly,considering the drive range and singular configurations,the workspace of the 2-PRU-PRRPa parallel mechanism was computed by using a search method.Subsequently,by differentiating the kinematic equations of the parallel mechanism,the velocity equations were derived.Additionally,based on the velocity Jacobian matrix,the input,output,and mixture singular configurations of the manipulator were analyzed.Furthermore,the mechanism's performance was evaluated based on motion/force transmission indices,resulting in a transmission performance distribution map.Aiming for an optimal transmission space,the 2-PRU-PRRPa parallel manipulator was optimized by using spatial modeling methods.The kinematic analysis and performance optimization of the 2-PRU-PRRPa parallel manipulator offered critical insights for the advancement of five-axis hybrid machining systems.关键词
并联机构/运动学分析/性能优化/尺度综合Key words
parallel mechanism/kinematics analysis/performance optimize/dimensional synthesis分类
机械制造引用本文复制引用
张伟中,冯邵江,袁鑫宏,孙鹏,杨超,鹿业波..2-PRU-PRRPa并联机构运动学分析与性能优化[J].农业机械学报,2025,56(1):497-506,10.基金项目
国家自然科学基金项目(52105037)、浙江省自然科学基金项目(ZCLTGY24E0502)和浙江机电职业技术大学科教融合项目(A027121103、A027122203) （52105037）
