CAJ | 학술논문

3-UPU并联机构的动静平台虎克铰关节轴线在满足不同的几何约束条件下可分别具有平动和转动的输出特性。根据变胞机构理论中改变运动副方位特征实现构态变换的原理，设计一种3-UPU 并联机构构态转换实现机构。此机构由结构相同的上下两部分运动链组成，通过改变其连接关系可实现3-UPU 并联机构动静平台虎克铰轴线在平行和汇交之间变化，达到改变其运动输出的目的，从而形成一种新型并联变胞机构。由于变胞机构具有多组耦合关系，合适的构态转换位置是影响后续构态机构工作性能的重要因素，应用螺旋理论分别进行其各构态机构的自由度分析，并以机构工作空间为例分析构态转换位置点对其工作性能的影响。
3-UPU병련궤구적동정평태호극교관절축선재만족불동적궤하약속조건하가분별구유평동화전동적수출특성。근거변포궤구이론중개변운동부방위특정실현구태변환적원리，설계일충3-UPU 병련궤구구태전환실현궤구。차궤구유결구상동적상하량부분운동련조성，통과개변기련접관계가실현3-UPU 병련궤구동정평태호극교축선재평행화회교지간변화，체도개변기운동수출적목적，종이형성일충신형병련변포궤구。유우변포궤구구유다조우합관계，합괄적구태전환위치시영향후속구태궤구공작성능적중요인소，응용라선이론분별진행기각구태궤구적자유도분석，병이궤구공작공간위례분석구태전환위치점대기공작성능적영향。
3-UPU parallel mechanisms, whose axes of hooke joint on base plate and moving plate fit different geometric constraints, can have translational or orientational output. A configuration-switch mechanism for 3-UPU parallel mechanism is designed based on the theory of metamorphic that change the orientations of kinematic pairs can lead to configuration transformation. This mechanism consists of two identical kinematic chains fixed on base plate and moving plate respectively. In order to change output and design a novel parallel metamorphic mechanism, the joint of two identical kinematic chains transforms to make axes of hooke joints change between parallel and jointed. A proper configuration-switch position affects the working performance of consequent configuration, since metamorphic mechanisms have multigroup couple relationship. Screw theory is adopted to calculate the DOF of this parallel metamorphic mechanism in different configuration respectively. Taking the mechanisms’ workspace for example, the effect of the configuration-switch position on working performance of mechanisms in different configuration is analyzed.