摘要
为了进一步提高锻造操作机的解耦性能,构造了两种类型的串并联形式的混联机构以作为锻造操作机构型。锻造操作机构型Ⅰ的升降运动用平行4R机构实现,其俯仰、侧摆、侧移、大车前进方向的移动和侧向冗余移动用五自由度并联机构实现;锻造操作机构型Ⅱ的升降和俯仰运动用由R和平行4R机构组成的串联运动链实现,其侧摆、侧移、大车前进方向的移动和侧向冗余移动用四自由度并联机构实现。然后采用基于螺旋理论的约束综合法综合了五自由度并联机构和四自由度并联机构,得到了数种无过约束和过约束五自由度并联机构,以及无过约束四自由度并联机构和过约束四自由度并联机构。
In order to further improve decoupling performance of forging manipulators,two kinds of hybrid serial-parallel forging manipulators were configurated.Lifting motion of forging manipulator Ⅰ was realized by the parallel 4R mechanism,motions of pitching,yawing,left-and-right translation,back-and-forward translation and redundant lateral translation were realized by a 5-DOF parallel mechanism;lifting and pitching motions of forging manipulator Ⅱ were realized by a serial kinematic chain composed of revolute joint R and the parallel 4R mechanism,motions of yawing,left-and-right translation,back-and-forward translation and redundant lateral translation were realized by 4-DOF parallel mechanism.Then,5-DOF parallel mechanism and 4-DOF parallel mechanism were synthesized by using the constraint-synthesis method based on screw theory.In concequence,several overconstrained and non-overconstrained 5-DOF parallel mechanisms are obtained,and several overconstrained 4-DOF parallel mechanisms and non-overconstrained 4-DOF parallel mechanisms are also obtained.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第13期1540-1545,共6页
China Mechanical Engineering
基金
河北省应用基础研究计划重点项目(09962119D)
关键词
构型综合
螺旋理论
锻造操作机
无过约束
type synthesis
screw theory
forging manipulator
non-overconstrained
作者简介
作者简介：许允斗，男，1985年生。燕山大学机械工程学院博士研究生。主要研究方向为并联机器人理论及其应用。
姚建涛，男，1980年生。燕山大学机械工程学院讲师。
赵永生，男，1962年生。燕山大学机械工程学院教授、博士研究生导师。
