• 论文 •

### 可重构单驱动3-RRR平面并联机构连杆曲线与姿态的数值解法

1. (中北大学 机械工程学院， 山西 太原 030051)
• 上线日期:2021-06-12
• 通讯作者: 李瑞琴（1964—），女，教授，博士生导师 E-mail:liruiqin@nuc.edu.cn
• 作者简介:李庠（1996—），男，硕士研究生。E-mail: lee.lixiang@qq.com
• 基金资助:
山西省重点研发计划项目（201803D421027、201903D421051） ； 山西省面上青年基金项目（201801D221235）

### A Numerical Solution of Coupler Curve and Orientation for Reconfigurable Single-driven 3-RRR Planar Parallel Mechanism

LI Xiang， LI Ruiqin， LI Hui， NING Fengping

1. （School of Mechanical Engineering, North University of China, Taiyuan 030051, Shanxi, China）
• Online:2021-06-12

Abstract: For complex driving and control and high energy consumption of 3-DOF 3-RRR planar parallel mechanism，the parallelogram kinematic chain is used to constrain the mechanism to a single-driven 3-RRR planar parallel mechanism. The coupler curve and orientation of the single-driven 3-RRR planar parallel mechanism are calculated using numerical method. The influence of reconfiguration on the coupler curve and orientation are analyzed. The input-output (IO) equation of the mechanism is derived based on Freudenstein equation. The numerical solution method of the equation is established using iterative algorithm. By changing the initial input angle of the mechanism，a reconfigurable method of mechanism configuration is proposed. A set of mechanism parameters was given as numerical example, and two kinds of configurations of the mechanism，which are called configuration I and configuration II，were obtained. The variations of coupler curve and orientation with the input angle for configuration I and reconfigured configuration I were obtained. Results show that the theoretical curves are consistent with the simulated curves, and the solution method is correct. The reconfiguration can significantly change the coupler curve and orientation of configuration I.