具有变/定转轴的一类分岔2Rv广义并联机构构型综合

胡旭宇; 刘宏昭; 刘伟; 许宝卉; 王朋朋

具有变/定转轴的一类分岔2Rv广义并联机构构型综合

1. 运城学院机电工程系;
2. 西安理工大学机械与精密仪器工程学院;
3. 西安工程大学机电工程学院

基金项目:

国家自然科学基金项目(51275404)

运城学院重点建设学科项目(XK2023-003)

运城学院博士科研启动项目(YQ-2023014)

山西省来晋科研专项(QZX-2023035)

详细信息

作者简介:
胡旭宇(1989—),男,讲师,博士,主要从事机器人及机构学研究,E-mail:HXYsteel3@163.com

通讯作者:
刘宏昭(1954—),男,教授,博士生导师,主要从事机械动力学和机构学研究,E-mail:liu-hongzhao@163.com

中图分类号: TH112
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出版历程
- 收稿日期: 2024-03-08
- 刊出日期: 2024-07-24

Type Synthesis of Bifurcation 2Rv Generalized Parallel Mechanisms with Variable/Invariable Rotational Axes

1. Department of Mechanical and Electrical Engineering, Yuncheng University;
2. School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology;
3. School of Mechanical and Electrical Engineering, Xi’an Polytechnic University

摘要

摘要: 现有大部分2R并联机构靠近定平台的第1个转轴方向矢量不变，靠近动平台的第2个转轴方向矢量只随着第1个转轴而变化，第2转轴相对于动平台不变。本文利用有限旋量理论，在具有变/定转轴分岔1Rv(Rv表示变转轴转动)并联机构基础上，提出一类具有变/定轴线的2Rv并联机构。分析了机构装配条件和驱动配置。此种分岔2Rv并联机构包含4种运动模式，即定-定转轴运动模式、定-变转轴运动模式、变-定转轴运动模式和变-变转轴运动模式。将传统的2条定转轴2R并联机构拓展为具有变/定转轴(变转轴和定转轴)的分岔2Rv广义并联机构。
- 变/定转动轴线 /
- 2Rv /
- 广义并联机构 /
- 构型综合 /
- 分岔运动
Abstract: The direction vector of the first rotating axis near the fixed platform remains constant in most existing 2R parallel mechanisms, while the direction vector of the second rotating axis near the moving platform only changes around the first rotating axis, and it remains constant relative to the moving platform. Based on spherical 4R mechanism, a class of 1Rv parallel mechanism with variable/invariable rotation axis was synthesized, and the change of the rotation axis of 1Rv mechanism was derived according to the finite screw theory. Based on bifurcation 1Rv parallel mechanisms with variable/invariable rotation axis, a 2Rv parallel mechanisms with two variable/invariable rotational axes was proposed by using the finite screw theory. The assembly condition and drive configuration of this kind of 2Rv parallel mechanism were analyzed. The novel bifurcated 2Rv parallel mechanism consists of four motion modes: invariable-invariable axes motion mode（in this mode, the first axis of rotation vector was invariable, and the second axis of rotation was also invariable relative to the moving platform）, invariable-variable axes motion mode（in this mode, the first axis of rotation vector was invariable, and the second axis of rotation was variable relative to the moving platform）, variable-invariable axes motion mode（in this mode, the first axis of rotation vector was variable, and the second axis of rotation was invariable relative to the moving platform）, and variable-variable axes motion mode（in this mode, the first axis of rotation vector was variable, and the second axis of rotation was also variable relative to the moving platform）. The existing 2R parallel mechanism with two invariable rotation axes was extended to the bifurcation 2Rv generalized parallel mechanism with two variable/invariable rotation axes（variable and invariable rotation axes）.
- variable/invariable rotational axis /
- 2Rv /
- generalized parallel mechanism /
- type synthesis /
- bifurcation motion

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