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当前位置: 首页 > 文章 > SCARA并联机构拓扑分析与其低耦合度机型设计 农业机械学报 2017,48 (11) 405-416
Position: Home > Articles > Topological Analysis for Family of SCARA Parallel Mechanisms and Their Equivalent Design with Low Coupling Degree Transactions of the Chinese Society for Agricultural Machinery 2017,48 (11) 405-416

SCARA并联机构拓扑分析与其低耦合度机型设计

作  者：
李菊;曾氢菲;沈惠平;杨廷力
关键词：
并联机构;POC方法;拓扑结构分析;耦合度;拓扑特征;机构综合
摘  要：
根据基于方位特征(Position and orientation characteristics,POC)的并联机构拓扑结构设计理论与方法,首先,对已提出的一类7个具有较好实用价值的SCARA并联机构,进行了拓扑结构分析,揭示了其POC集、自由度(含驱动副选取)、过约束数、耦合度以及输入-输出运动解耦性等5个最主要的拓扑特征,且发现这些机构的耦合度均较大,为2,表明其运动学正解和动力学求解十分复杂;继而基于机构拓扑结构降耦原理,又对κ=2的这7个机构进行了拓扑结构降耦优化,得到了低耦合度(κ=1),而机构POC、自由度(Degree of freedom,DOF)等保持不变的实现SCARA运动的14个新机型,不仅丰富了实现SCARA运动的4-DOF三平移一转动机型库,而且降低了这些机构的运动学和动力学代数求解难度,而其数值解可用一维搜索法方便求得,从而为这一类SCARA并联机构的运动学和动力学分析、设计及应用提供了理论基础。
译  名：
Topological Analysis for Family of SCARA Parallel Mechanisms and Their Equivalent Design with Low Coupling Degree
作  者：
LI Ju;ZENG Qingfei;SHEN Huiping;YANG Tingli;Research Center for Advanced Mechanism Theory,Changzhou University;
单  位：
Research Center for Advanced Mechanism Theory,Changzhou University
关键词：
parallel mechanism;;POC method;;topological structure analysis;;coupling degree;;topological characteristics;;mechanism synthesis
摘  要：
According to the parallel mechanism design theory and systematical method based on position and orientation characteristic( POC),a total topological structures analysis was performed on seven typical new SCARA parallel mechanisms( PMs) with proposed practical value. Five major topological features were revealed,which were POC set,degree of freedom( including the selection of drive pair),over-constraint degree,coupling degree and input-output motion decoupling relationship of PMs. It was found that the coupling degree of these PMs were bigger with κ = 2,which meant that the forward kinematics solutions and inverse dynamic solution of the PMs were very complete. Therefore,decoupling and optimization of these PMs were completed based on the proposed mechanism topological structural decoupling principles,and 14 new equivalent mechanisms with lower coupling degree which had the same POC and DOF were achieved. Thus the 4-DOF mechanism with three translations and one rotation which can achieve Schonflies motion can be enriched greatly,and the forward kinematics solutions and inverse dynamic solution of these PMs can be obtained easily, and the numerical solution can be gotten conveniently by using one dimensional searching method. The research provided a theoretical basis for the kinematics synthesis and analysis,design and applications for these new SCARA PMs.

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