并联驱动机构型综合方法与性能研究

Mechanism configuration is an innate condition to determine the performance of the mechanical equipment. The type synthesis is a vital subject in the field of mechanism. One kind of mechanism that is different from series, parallel and hybrid mechanisms is defined as parallel driving mechanism in this project in order to enrich the types of mechanisms and provide more configurations for mechanical equipment. The systematic type synthesis theory and performance evaluation index framework of parallel driving mechanism are established. Firstly, based on the graph theory, the topological structure of the passive actuator in the parallel driving mechanism is analyzed and designed. The controllability analysis about the passive actuator is carried out and the motion input point and input motion are determined based on the screw theory. Then, the motion matching rules for the passive actuator, the driving mechanism and the connecting joints in the parallel driving mechanism are studied deeply. The universal motion matching criterion is abstracted, and the type synthesis theory of parallel driving mechanism is established. Lastly, the performance of passive actuator and driving mechanism is studied, respectively. Moreover, the interaction between these two performances is analyzed. The evaluation indices with clear physical meaning and ability to accurately reflect the performance of mechanism are established. According to the evaluation indices, the parallel driving mechanism with high practical value is optimized in all integrated mechanism. This project is of great significance to promote the engineering application of parallel driving mechanism and enrich the theoretical system of mechanism.

机构构型是决定机械装备性能的先天条件，机构型综合是机构学领域极具生命力的课题。为丰富机构种类，为机械装备提供更多的构型选择，本项目定义机构组成有别于串联、并联及串并混联机构的一类机构为并联驱动机构，并构建其系统的型综合理论和性能评价指标体系。首先，以图论为基础，对并联驱动机构中的执行机构进行拓扑结构分析与设计，并基于螺旋理论对其进行可控性分析，确定其运动输入点及输入运动。然后，深入研究并联驱动机构中执行机构、驱动机构和连接关节三者之间的运动匹配规律，提炼具有普适性的运动匹配准则，建立并联驱动机构型综合理论。最后，研究执行机构和驱动机构的各项性能，并分析二者性能之间的相互影响，建立物理意义明确且可精确反映机构性能的评价指标体系，对综合出的机构进行优选以获得多种具有较高实用价值的并联驱动机构。本项目的开展对推动并联驱动机构的工程化应用，丰富机构学理论体系意义重大。

阐述了并联驱动机构的定义，对机构内部组成进行了单元划分，将其划分为执行机构、驱动机构和连接关节。分别明确了执行机构、驱动机构和连接关节的可能构型，绘制了并联驱动机构内部机构单元间的组成网络，给出了执行机构和驱动机构的自由度不等式关系和执行机构被约束自由度的求解步骤，形成了并联驱动机构的自由度分析方法。.分析了执行机构运动输入点处运动特征的影响因素，讨论了轴线呈多种几何关系的两个同种运动副和异种运动副组合的运动特征合成规律，分别给出了执行机构为单开链机构、闭环机构、含闭环的半开链时各种可能运动输入点处的运动特征列表，构建了驱动机构和连接关节在运动输入点处合运动特征的求解准则，构建了13条驱动机构和连接关节的运动特征匹配准则，建立了执行机构运动输入点运动特征以及驱动机构末端运动特征之间的映射列表，形成了少自由度并联驱动机构程式化的型综合方法。.设计了40种三自由度被动执行机构，确定了上述执行机构的运动输入点配置。基于GF集理论综合出了多种三自由度并联驱动机构。基于螺旋理论求解了其运动输入点处的运动特征，综合出了一种3T2R五自由度并联驱动机构。.围绕冶金、矿业、大健康领域开展了少自由度并联驱动机构的性能分析与应用研究。基于单自由度折展式并联驱动机构设计了棒材打捆机器人，基于四自由度并联驱动机构设计了自行车运动模拟器，基于五自由度并联驱动机构设计了特钢棒材修磨机器人。然后，针对上述少自由度并联驱动机构，从灵巧性、工作空间、运动学及动力学传递、能量传递方面定义了诸多物理意义明确的性能评价指标，并基于这些指标对各少自由度并联驱动机器人典型实例进行了性能评价与优化设计，最终研发了三自由度和四自由度并联机器人样机，并对其开展了实验研究。本项目所研究的机构综合、分析与评价理论可为该类机构的广泛应用提供理论基础，对丰富机构种类和机构学理论具有积极意义。