一种含过约束支链的多模式移动并联机构设计与仿真

Design and Kinematic Analysis of Mobile Parallel Mechanism with Over Constrained Branch Chains

摘要:

本文设计了一种含过约束支链的多模式移动并联机构，并对其自由度以及运动学进行了分析。根据分析约束支链与平台间支链连接情况，对其进行机构构型设计，得到一种含约束支链的多模式移动并联机构，并对引入的约束支链进行过约束支链判定。采用杆组等效法对机构四边形滚动模式及球形滚动模式进行自由度分析，对机构各模式进行运动学分析，计算求解各点位置坐标。对比机构含和不含过约束支链，根据ZMP理论求解质心坐标，对比机构含和不含过约束支链运动时yZMP与角度之间的关系，利用Matlab对机构运动时质心情况进行对比。最后，利用ADAMS对机构进行运动学仿真，并制作样机对机构运动及各模式实现进行验证。

Abstract:

A multi-mode mobile parallel mechanism with over constrained branch chains was designed, and its degrees of freedom and kinematics were deeply analyzed. When exploring the motion of the parallel mechanism, the influence of the over constrained branch chain on its motion stability was studied, and the motion simulation and physical production were carried out to verify the motion of the mechanism and the realization of each mode. Firstly, according to the analysis of the connection between the constrained branch chain and the platform branch chain, a multi-mode mobile parallel mechanism with constrained branch chain was obtained according to its configuration design. The degree of freedom of the two modes of the mechanism, quadrilateral rolling mode and spherical rolling mode, was analyzed by means of the bar group model. The comparative analysis of the mechanism with or without over constrained branch chains was carried out, the centroid coordinates were solved according to ZMP theory, the relationship between the mechanism with or without over constrained branch chains and the angle was compared and analyzed, and Matlab was used to carry out comparative analysis of the centroid situation of the mechanism with motion. Finally, the kinematic simulation of the mechanism was carried out by ADAMS, and the prototype was made to verify the movement of the mechanism and the realization of each mode.