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

doi:10.3969/j.issn.1000-1093.2021.05.020

兵工学报 ›› 2021, Vol. 42 ›› Issue (5): 1074-1082.doi: 10.3969/j.issn.1000-1093.2021.05.020

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

李庠，李瑞琴，李辉，宁峰平

(中北大学机械工程学院，山西太原 030051)

上线日期:2021-06-12
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

（School of Mechanical Engineering, North University of China, Taiyuan 030051, Shanxi, China）

Online:2021-06-12

摘要/Abstract

摘要： 针对3自由度3-RRR平面并联机构驱动与控制复杂、能耗大的问题，利用平行四边形运动链将其约束为单驱动3-RRR平面并联机构。通过数值解法计算单驱动3-RRR平面并联机构的连杆曲线与姿态，并分析重构对连杆曲线与姿态的影响。基于Freudenstein方程推导该机构的输入- 输出方程；采用迭代算法建立方程的数值求解方法；通过改变机构的初始输入角，提出一种机构构型的可重构方法。给出一组机构参数作为数值算例，求解得到机构的两种构型，称为构型Ⅰ和构型Ⅱ，以构型Ⅰ为算例，计算得到构型Ⅰ重构前后的连杆曲线与姿态随输入角变化的规律。结果表明：理论曲线与仿真曲线相吻合，验证了求解方法的正确性；重构能够显著改变构型Ⅰ连杆曲线与姿态。

关键词: 3-RRR平面并联机构, 单驱动, 输入-输出方程, 可重构, 连杆曲线

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.

Key words: 3-RRRplanarparallelmechanism, single-driven, input-outputequation, reconfiguration, couplercurve

中图分类号:

TH112.1

李庠，李瑞琴，李辉，宁峰平. 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[J]. 兵工学报, 2021, 42(5): 1074-1082.

LI Xiang， LI Ruiqin， LI Hui， NING Fengping. A Numerical Solution of Coupler Curve and Orientation for Reconfigurable Single-driven 3-RRR Planar Parallel Mechanism[J]. Acta Armamentarii, 2021, 42(5): 1074-1082.

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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

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

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