【作者】 罗继曼；

【导师】 蔡光起；

【作者基本信息】 东北大学 ， 机械制造及其自动化， 2006， 博士

【摘要】 并联构型制造装备的结构中包含一个或多个并联机构，是世界上近年来逐渐兴起的一种新构型制造装备。与串联构型相比，并联构型具有刚度好、精度高、高速和高加速度等特点，在制造领域具有很广泛的应用前景。其中，少自由度并联机构已成为并联构型装备发展的重要趋势。 由于少自由度并联机构总体上具有比六自由度并联机构更复杂的运动特性，使少自由度并联机构机型匾乏。因此，研究少自由度并联机构的构型设计有着重要的理论意义和应用价值。又因为约束链的结构形式、关节和自由度配置、精度和刚度等特性对并联机构性能有直接影响，所以对各类支链以及其运动特性等的研究势在必行。 本文围绕少自由度并联机构的构型设计和约束链相关问题，在对并联构型装备的发展趋势进行充分分析的基础上，在并联机构的型综合方法、约束链的构成与分类、不同约束链构型的运动学、静刚度、弹性动力学、精度与误差等方面进行了比较深入的研究。具体包括以下内容： (1) 研究了与并联机构密不可分的螺旋理论、拓扑结构学和群论，阐述了相关的基本概念、基本运算和基本准则，为进一步研究打下理论基础。 (2) 研究了现有并联机构型综合的三种主要方法，包括螺旋约束综合法，拓扑结构综合法和位移流型综合法，详尽地比较了这些型综合方法的优缺点，并在现有理论基础上系统地提出添加约束综合法。利用该方法扩展了若干并联机构新机型。 (3) 运用添加约束综合法，对九类少自由度并联机构作了较全面的型综合，综合出60多种实例，并对这些并联机构作了约束分析、自由度计算、约束度计算和耦合度计算，并判断了控制解耦性，对各类机构作了构型上和解耦性的比较，为机构的优选提供了依据。 (4) 研究了主动链和约束链的构成方法，系统地综合出13种主动链类型，以及113种约束链，其中大多是新型约束链。并对其中的37个约束链按约束链所具有的自由度数排列，作了约束特性、自由度数、结构要求等分析，最后应用螺旋理论对12种典型约束链作了约束分析和计算。 (5) 研究了不同约束链构型的机构运动学问题。对部分并联机构作了位置、速度、工作空间和可操作度分析和计算，研究了机构的解耦性、运动平稳性、运动性能以及机构的奇异性。并用ADAMS软件对具有串联式基本构型、平行四边形4R型，以及含有圆柱副C和虎克铰T型约束链的并联机构进行运动学动态仿真。 (6) 研究了不同约束链对并联机构刚度的影响，建立了考虑主动链以及考虑约束更多还原

【Abstract】 Parallel Robot Mechanisms, in which one or more parallel organs are included, is a new type of manufacturing mechanisms thriving in recent years of the world. Comparing with the series-wound configuration, the parallel configuration has special advantage like better rigidity, better precision, higher speed and acceleration which in all manufacturing fields it enjoy wider application prospect. Partly degrees of freedom parallel robot mechanisms has become a significant tendency in the field of parallel configuration equipment’s development.Comparing with 6-degrees of freedom, the partly degrees of freedom parallel robot mechanisms is more complicated in the kinematical features and this has results in serious lack of the latter. So to research on the partly degrees of freedom parallel configuration is of more significance and values both in theory and in the application. Besides, the performance of the parallel robot mechanisms is directly influenced by the factors like constraint chains’ configuration types and joints and the freedom degree configuration, precision and rigidity. Under such circumstances, the research on all types of sub-chains and their kinematical features is imperative.Focusing on partly-degrees freedom parallel mechanisms’ configuration design and the constraint chains, and based on a wealthy research on the development tendency on the parallel mechanisms, this thesis mainly makes rather deep research on parallel configuration synthesis, constraint chains structures and classifications, variant constraint chains configuration’s kinematics, static stiffness , elasticity dynamics, precision and errors. The contents includes:(1) This thesis mainly researches the screw theory, the Topology configuration theory and the Algebra of Lie group which are all tightly associated with the parallel mechanisms. It sets forth relevant basic concept, calculation and principle which lay academic groundwork for further research.(2) It researches current 3 main methods of parallel mechanism configuration which includes constraint synthesis on the screw theory, the structural synthesis on the screw theory and the displacement flowing synthesis and makes a full and clear comparison on their strong and weak points. Based on current theory, it puts forward the constraint accession synthesis method which expands parallel configurations.更多还原