一种可重构平面并联机器人的运动传递性能
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南京林业大学机械电子工程学院,南京 210037

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通讯作者:

尤晶晶,男,副教授,博士生导师,E-mail:youjingjing251010@126.com。

中图分类号:

TH112

基金项目:

国家自然科学基金(52575022)。


Motion Transmissibility of a Novel Reconfigurable Planar Parallel Robot
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College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China

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    摘要:

    传统并联机器人的结构是固定的,故其性能固定,难以适应不确定或多变的复杂工况。为此,设计了一种能够重构成19 686种拓扑结构的平面并联机器人,并研究了重构前、后的运动传递性能。首先,设计了一种变胞装置,可用于实现低副的变胞以及并联机器人的几何、拓扑重构。其次,以3-转动副转动副转动副(Revolute joint, revolute joint, revolute joint, RRR)和3-转动副移动副转动副(Revolute joint, prismatic joint, revolute joint, RPR)两种拓扑结构为例,详细阐释了机器人的重构机理。接着,运用旋量代数理论,推导出机器人的运动传递性能函数,据此,构造了拓扑重构准则并计算了性能指标值。结果显示:通过重构,并联机器人的运动传递性能提升了96.6%。最后,基于运动传递性能函数,辨识出机器人的全部奇异位形。研究结论为可重构并联机器人的推广应用奠定了理论基础。

    Abstract:

    The configuration and scale of the traditional parallel mechanism are fixed, so its performance is fixed, and it is generally not suitable for uncertain and changeable complex application scenarios. A planar parallel mechanism that can be reconfigured into 19 686 topological configurations is designed. The motion transmission performance of the pre-reconfiguration and post-reconfiguration is analyzed and applied to a variable cell manipulator. First, a metamorphic device is designed to realize the metamorphic of the planar motion pair and the geometric reconfiguration and topology reconfiguration of the parallel mechanism. Second, taking the two working modes of 3-RRR and 3-RPR as examples, the reconfiguration method of parallel mechanism is explained in detail. Then, the motion transmission performance model of the parallel mechanism is configured by using the reciprocity theory between spinors, and the performance index values are calculated. Research results show that the motion transmission performance of the parallel mechanism is improved by 96.6% through reconfiguration. Finally, based on the index value, it is easy to identify all the singular configurations of the mechanism. The research conclusions lay a theoretical foundation for the promotion and application of reconfigurable parallel robots.

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尤晶晶,张毅,李飒,张悦.一种可重构平面并联机器人的运动传递性能[J].南京航空航天大学学报,2026,58(3):521-528

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  • 收稿日期:2026-02-22
  • 最后修改日期:2026-05-11
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  • 在线发布日期: 2026-06-18
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