[1]王 宏,王 芸,邓娜娜,等. 具有部分运动输入-输出解耦性的并联机构的设计与分析[J].机械与电子,2026,44(01):52-57.
　WANG Hong,WANG Yun,DENG Nana,et al.Design and Analysis of Parallel Mechanisms with Partial Motion Input-output Decoupling[J].Machinery & Electronics,2026,44(01):52-57.
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 具有部分运动输入-输出解耦性的并联机构的设计与分析()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年01期
页码:
52-57
栏目:
机器人技术
出版日期:
2026-01-27

文章信息/Info

Title:
Design and Analysis of Parallel Mechanisms with Partial Motion Input-output Decoupling
文章编号:
1001-2257(2026)01-0052-06
作者:
 王 宏1; 王 芸2; 邓娜娜1; 张 佳1
(1.新疆工程学院机电工程学院,新疆 乌鲁木齐 830023;2.新疆工程学院数理学院,新疆 乌鲁木齐 830023)
Author(s):
WANG Hong1; WANG Yun2; DENG Nana1; ZHANG Jia1
(1.School of Mechtronics Engineering,Xinjiang Institute of Engineering,Urumqi 830023,China;2.School of Mathematics and Physics,Xinjiang Institute of Engineering,Urumqi 830023,China)
关键词:
并联机构; 三平移一转动; 正逆解; 工作空间
Keywords:
parallel mechanism; three translations and one rotation; forward and inverse solutions; workspace kinematics
分类号:
TH112
文献标志码:
A
摘要:
针对当前机构中存在正逆解推导过程较为复杂的问题,设计一种具有部分运动解耦性且正逆解推导过程简单的3T1R空间并联机构。主要完成了该机构的方位特征集分析、自由度分析;验证了该机构能够实现三平移一转动的运动输出;完成了机构的正逆方程的构建,同时正逆解计算相比较为简单,通过实例验证了方程构建的正确性,且此机构具有部分运动输入输出解耦性;基于位置逆解方程,得到了该并联机构的可达工作空间,结果表明工作空间对称性良好,且工作空间饱满;使用SolidWorks软件及ADAMS软件联合进行了机构的运动学分析,得到了机构的位置及姿态角变化图,结果表明该机构具有良好的运动学性能。
Abstract:
To address the problem of complex derivation process for forward and inverse kinematic solutions in existing mechanisms,a 3T1R spatial parallel mechanism with partial motion decoupling and simplified derivation procedures is designed.This study accomplishes the following main contributions:analysis of the orientation feature set and degrees of freedom of the mechanism;verification of its capability to achieve three translation and one rotation motion output,and establishment of the forward and inverse kinematic equations.The computational processes for both forward and inverse solutions are relatively straightforward.The correctness of the derived equations is validated through numerical examples,demonstrating the partial motion input output decoupling characteristics.Based on the inverse kinematic equations,the reachable workspace of the parallel mechanism was obtained,and the results showed that the workspace was well shaped,symmetry and sufficiently large.The kinematic analysis was performed using SolidWorks and ADAMS software,yielding graphs of positional and angular angle variations,which indicate favorable kinematic performance of the mechanism.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2025-09-05
基金项目:新疆维吾尔自治区科技厅项目(2024D01A49)
作者简介:王 宏 (1981-),男,甘肃会宁人,硕士,副教授,研究方向为机电系统智能控制、工业机器人动力学控制;王 芸 (1980-),女,甘肃靖远人,硕士,副教授,研究方向为工程结构强度与振动、机械工程,通信作者,E-mail:wylwlcb@sina.com。
更新日期/Last Update: 2026-03-09