[1]徐 帅,尤晶晶,沈惠平,等.一种可重构并联机构的拓扑特性分析[J].南京师大学报(自然科学版),2021,44(04):7-16.[doi:10.3969/j.issn.1001-4616.2021.04.002]
　Xu Shuai,You Jingjing,Shen Huiping,et al.Topology Analysis of a Reconfigurable Parallel Mechanisms[J].Journal of Nanjing Normal University(Natural Science Edition),2021,44(04):7-16.[doi:10.3969/j.issn.1001-4616.2021.04.002]
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一种可重构并联机构的拓扑特性分析()
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《南京师大学报（自然科学版）》[ISSN:1001-4616/CN:32-1239/N]

卷:
第44卷
期数:
2021年04期
页码:
7-16
栏目:
·物理学·
出版日期:
2021-12-15

文章信息/Info

Title:
Topology Analysis of a Reconfigurable Parallel Mechanisms
作者:
徐 帅1; 尤晶晶1; 2; 沈惠平3; 叶鹏达1
(1.南京林业大学机械电子工程学院,江苏 南京 210037)(2.江苏省精密与微细制造技术重点实验室,江苏 南京 210016)(3.常州大学现代机构学研究中心,江苏 常州 213016)
Author(s):
Xu Shuai1; You Jingjing1; 2; Shen Huiping3; Ye Pengda1
(1.College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)(2.Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing 210016,China)(3.Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213016,China)
关键词:
并联机构; 重构; 锁合; 方位特征; 拓扑特性; 有序单开链
Keywords:
parallel mechanisms; reconfigurable; locked; position and orientation characteristics; topological characteristics; single open chain
分类号:
TH112
DOI:
10.3969/j.issn.1001-4616.2021.04.002
文献标志码:
A
摘要:
设计出一种可重构并联机构. 首先,为了实现机构拓扑构型的重构,设计了一种可转换主、从运动和锁合的移动副; 然后,将机构中的移动副设置为6类锁合方式,共重构出13种拓扑构型; 接着,以锁合一个移动副为例,采用基于方位特征(POC)和有序单开链(SOC)的并联机构拓扑结构设计理论,详细剖析了机构的3个主要拓扑特性:POC集、自由度、耦合度; 最后,列出了其它12种重构构型的拓扑指标,这些指标反映了可重构并联机构的运动学及动力学的基本性能,为后续的构型综合及运动控制提供了理论基础,进一步为可重构并联机构的推广提供了应用参考.
Abstract:
A reconfigurable parallel mechanism is designed. Firstly,in order to reconstruct the topology configuration of the mechanisms,a movable pair with convertible principal and slave motion and locking is designed. Secondly,the moving pairs in the structure were set as six types of locking modes,and thirteen topological configurations were reconstructed. Then,taking a moving pair with a lock as an example,the topology design theory of parallel mechanism based on position and orientation characteristics(POC)and ordered single-opened-chain(SOC)is adopted to analyze in detail the three main topology characteristics of POC set,degree of freedom and coupling degree of the mechanism. Finally,the topological indexes of the other twelve reconfigurable parallel mechanisms are listed,which reflect the basic kinematics and dynamics performance of the reconfigurable parallel mechanisms,and provide the theoretical basis for the subsequent configuration synthesis and motion control,and further provide the application reference for the promotion of the reconfigurable parallel mechanisms.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2020-10-19.
基金项目:国家自然科学基金资助项目(51405237)、国家留学基金资助项目(201908320035).
通讯作者:尤晶晶,博士,副教授,研究方向:可重构并联机器人、六维加速度传感器. E-mail:youjingjing251010@126.com
更新日期/Last Update: 2021-12-15