CAJ | 학술논문

提出了一种能实现沿Y、Z轴平移和绕X轴转动的3-RPR型三自由度并联机构,运用螺旋理论分析了该并联机构实现二维平移和一维转动的机构学原理,计算了机构自由度,进行了驱动输入选取与论证,并进行了奇异分析,提出了减少奇异的参数设计条件,运用多体系统运动学理论建立了运动学模型,研究了运动学正反求解,并进行了数值仿真验证,最后分析了机构的工作空间。该并联机构是一种支链完全相同的半对称并联机构,结构较为简单,是对2T1R并联机构的重要补充,可应用于工业装配机器人、姿态调节器、并联机床、工作台等领域。
제출료일충능실현연Y、Z축평이화요X축전동적3-RPR형삼자유도병련궤구,운용라선이론분석료해병련궤구실현이유평이화일유전동적궤구학원리,계산료궤구자유도,진행료구동수입선취여론증,병진행료기이분석,제출료감소기이적삼수설계조건,운용다체계통운동학이론건립료운동학모형,연구료운동학정반구해,병진행료수치방진험증,최후분석료궤구적공작공간。해병련궤구시일충지련완전상동적반대칭병련궤구,결구교위간단,시대2T1R병련궤구적중요보충,가응용우공업장배궤기인、자태조절기、병련궤상、공작태등영역。
A novel 3-RPR parallel mechanism was proposed,that can realize two-dimensional translations along Y,Z-axis and rotation about X-axis.Based on screw theory,the principles in accordance with which the parallel mechanism realized the above 3-DOF motions were analyzed,the mobility of the parallel mechanism was calculated,and the drive input joints were chosen and discussed,the motion singularity was analyzed and the parameter design conditions were presented to decrease motion singularity.By means of multi-body system kinematics theory,the kinematics equations of the parallel mechanism were set up,the forward and inverse position kinematics solutions were discussed and validated using numerical simulation.Finally,the workspace of the parallel mechanism was analyzed.The 3-RPR parallel mechanism replenishes 2T1R parallel mechanism family,whose three branches are uniform,and structure is semi-symmetric and simpler,and the parallel mechanism can be applied in the fields of industrial assembly robots,posture adjusters,parallel machine tools,work platforms.