一类三自由度并联机构运动力传递性能评价和优化设计-evaluation and optimal design of motion force transmission performance of a three-degree-of-freedom parallel mechanism.docxVIP

摘 要 本文主要对具有 1T2R 自由度的并联机构进行了运动/力传递性能分析与优化，主要的 工作和研究取得的成果可概括为以下几个方面：针对现有运动/力传递性能评价在考虑功率最大值的时候，定义了特征点，但并没有指 出分支传递力螺旋作用点的存在，或者忽视了一些特殊构型并联机构分支传递力螺旋不过 分支与末端相连铰链点中心的问题，本文提出了力螺旋平移的观点，并予以证明，从而对 运动/力传递特性的现有计算模型进行了有益的补充，并完善了物理意义。描述并联机构运 动/力传递特性时，需要区分输入传递性能与输出传递性能，两者计算模型一致，但是公式 内包含元素物理意义有所区别，需要结合机构关节运动螺旋与驱动力螺旋来逐步求解反螺 旋来获取。通过分析并联机构结构特点，建立关节位置约束方程，可得输出端相对输入端映射关 系，对方程两边全微分，则可获得输出端相对输出端速度映射关系与 Jacobian 矩阵。Jacobian 矩阵已被广泛运用于串联和并联机构的性能评价之中，亦可通过 Jacobian 矩阵行列式准确 描述机构奇异位姿。基于运动/力传递描述的奇异边界位姿并不是精确值，可通过与 Jaobian 矩阵所得数据比较差值，分析其运动/力传递指标精确度。基于运动/力传递性能指标，分析了机构瞬时运动/力传递性能与工作空间大小，根据性 能可对机构进行构型优选与尺度综合。构型优选为对几种构型与尺度相似的并联机构进行 性能分析比较，可分别基于运动/力传递性能与工作空间范围层面，筛选出符合工程性能侧 重点的优选构型。尺度综合内容是指根据几种性能优化目标函数，实现 Exechon 并联机构 的尺寸优化。本文研究内容丰富了机器人机构学相关设计理论，对推动机器人技术工业应用具有重 要指导价值。关键词：运动/力传递特性；1T2R 并联机构；奇异边界位姿；构型优选；尺度综合IAbstractThis paper has described and optimized the motion/force transmission of 1T2R parallel mechanisms based on LTI, which is proposed by Liu. The main work and research results are as follows:Motion/force transmission index system has been defined. When it comes to calculate the value of potential maximal power, the existing method do not consider the applied point, i.e. neglect the fact that transmission wrench screw do not across joint center point. In the view of above questions, this paper propose an opinion to change the applied point of wrench screw, and a series of formulations is presented to confirm the feasibility. Thus, the physical meanings and calculation model are both fixed. Input transmission and output transmission should be distinguished when describe the performance of PMs. Although the calculation model is the same, the physical meanings of elements included in the expression are different, which can be obtained through reciprocal product calculation of twist and wrench screws of PMs’ joints.The constraint formulations of joints’ position with respect to reference coordinate are established through analyzing the features of PMs’ structure. Thus, the mapping between input member an