文章摘要
王永奉,范顺成,张小俊,路光达,杨静.具有弧形移动副3 RPS并联机构的运动学分析[J].机床与液压,2018,46(15):7-11.
.Kinematics Analysis of 3 RPS Parallel Mechanism with Arc Prismatic Pairs[J].Machine Tool & Hydraulics,2018,46(15):7-11
具有弧形移动副3 RPS并联机构的运动学分析
Kinematics Analysis of 3 RPS Parallel Mechanism with Arc Prismatic Pairs
  
DOI:10.3969/j.issn.1001-3881.2018.15.002
中文关键词: 并联机构  螺旋理论  自由度  工作空间
英文关键词: Parallel mechanism  Screw theory  Mobility  Workspace
基金项目:国家自然科学基金资助项目(61503119);天津市科技特派员项目(12JCTPC56700)
作者单位E-mail
王永奉 河北工业大学机械工程学院 wyf841023@126.com 
范顺成 河北工业大学机械工程学院  
张小俊 河北工业大学机械工程学院  
路光达 河北工业大学机械工程学院  
杨静 河北工业大学机械工程学院  
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中文摘要:
      提出两种具有弧型移动副的RPS并联机构,其分支运动链均由一个转动副R,一个弧形移动副P和一个球铰S构成。运用螺旋理论,对这两种并联机构的自由度、位置反解、工作空间进行分析。第一种并联机构动平台的转动中心为弧形连杆的中心,动平台绕Z轴的旋转相对其它两个方向的旋转具有解耦性;第二并联机构动平台的转动中心是各支链球铰中心与弧形连杆中心连线的交点,此交点随动平台的位姿变化而变化;此外,第二种并联机构的工作空间比第一种并联机构的工作空间小。这两种并联机构结构简单、灵活度较高,可应用于虚轴机床、航空模拟设备、医疗设备等领域。
英文摘要:
      Two types of 3 RPS parallel mechanisms with arc prismatic pairs are proposed, its limb kinematic chain consists of prismatic pair P, a revolute pair R, and a spherical joint S. Mobility, kinematics and workspace of these two types parallel mechanisms were analyzed via screw theory. The rotational center of moving platform of first parallel mechanism was the center of arc of arc rods, and moving platform rotates around the Z axis with respect to the other two directions was decoupled. In the second parallel mechanism, the rotational center of moving platform was an intersection point of three straight lines, which passing through each center of arc rod and the center of spherical joint, and this intersection point was changed with the posture of the moving platform. In addition, the workspace of second parallel mechanism was less than the workspace of first parallel mechanism. These two types of parallel mechanisms have simple structure, high flexibility, so it can be widely used in virtual axle machine tool, flight simulator and medical equipment fields.
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