Type Synthesis of Five Degree-of-Freedom Hybrid Mechanism

五自由度混聯機構的型綜合

葛姝翌(Shuyi Ge) ； 曹毅(Yi Cao) ； 劉凱(Kai Liu) ； 丁銳(Rui Ding)

《中國機械工程學刊》 40卷5期 (2019/10) Pp. 449-459

摘要

With the introduction of fractal theory and topological graph, this paper deals with the type synthesis and kinematic analysis of closed-loop 5-DoF (five degree-of-freedom) HMs (hybrid mechanisms). Firstly, the concept of fractal theory and topological graph are introduced. Then, theoretical grounds which consist of motional feature and algorithm for the type synthesis of HMs are presented in detail. The motional feature is composed of route, branch and kinematic pairs represented by a 8-bit binary string, while the algorithm is composed of route rule for dealing with the topological graph and calculation rule of union-intersection-preserving. Meanwhile, a mathematic model for both fractal and HMs is developed considering the interaction and correlation between them. Furthermore, the concrete procedure of type synthesis of 5-DoF HMs can be structured base on a selected topological graph and a flowchart is recommended in detail. Finally, the analysis of the motional characteristic for the end-effector is proposed and applied to an example chosen from type synthesis to demonstrate the validity of the methodology in this paper.

關鍵字

hybrid mechanism ； type synthesis ； fractal theory ； topological graph

並列摘要

隨著分形理論的引入和拓撲圖形，本文研究了閉環五自由度混聯機構型綜合方法及其運動學分析。首先，介紹了分形理論和機構拓撲圖的概念及關係。其次，對混聯機構型綜合的理論基礎進行描述，包括機構的運動特徵和運算法則。其中，運動特徵包括路徑、支鏈和運動副（使用8位代碼表示），運算法則包括為求解機構拓撲圖的路徑法則和串並聯計算規則。同時，建立了混聯機構與分形的關係模型。進一步的，通過一個選定的拓撲結構歸納出五自由度混聯機構構型綜合的具體步驟，並以流程圖的形式展示。最後，提出了機構末端運動特徵的分析方法，並以此方法，分析了所綜合出的混聯機構中選定的一個實例機構，從而證實本文所述方法的可行性。