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    陶宗杰, 安琦. 考虑干涉的平面3-RRR并联机构的最优化工作空间设计[J]. 华东理工大学学报(自然科学版), 2013, (2): 239-244.
    引用本文: 陶宗杰, 安琦. 考虑干涉的平面3-RRR并联机构的最优化工作空间设计[J]. 华东理工大学学报(自然科学版), 2013, (2): 239-244.
    TAO Zong-jie, AN Qi. Optimum Design of a Planar 3 RRR Parallel Mechanism with Least Interference Design Methodology[J]. Journal of East China University of Science and Technology, 2013, (2): 239-244.
    Citation: TAO Zong-jie, AN Qi. Optimum Design of a Planar 3 RRR Parallel Mechanism with Least Interference Design Methodology[J]. Journal of East China University of Science and Technology, 2013, (2): 239-244.

    考虑干涉的平面3-RRR并联机构的最优化工作空间设计

    Optimum Design of a Planar 3 RRR Parallel Mechanism with Least Interference Design Methodology

    • 摘要: 根据干涉对平面机构工作空间的影响,利用避免干涉设计方法,以平面3 RRR型并联机构为研究对象,建立了一种具有最大化工作空间的新型平面3 RRR并联机构,并对该机构进行数学建模分析。在建立杆件的运动模型的基础上,得到了机构干涉产生的条件,通过数值计算方法,得到杆件形状系数α1和α2变化对平面并联机构空间范围的影响规律。数值模拟了该新型平面机构的工作空间范围曲面,计算绘制了空间干涉范围图形。此外,使用解析方法对该机构的奇异位形进行了分析。解决了最小化机构运动干涉的问题,对机构运动空间进行了最优化,该最优化设计方法也可以应用于其他平面机构。

       

      Abstract: This work analyzed the influence of interference on a planar 3 RRR mechanism workspace. The optimum structure was attained using the avoiding interference design methodology theory. According to its kinematic model, the conditions when interferences happen were given. Based on that, the workspace volume function with link shape ratios α1 and α2 were calculated and plotted. By numerical computations, the total workspace and the interference distributions of the optimum mechanism were presented. In addition, its singularities were studied in an analytical way. This work solved the problem of interference minimization, and optimized the workspace of the parallel manipulator. This methodology can be applied to other planar mechanisms in the future.

       

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