两移动三转动完全解耦混联机器人机构型综合
Structural Synthesis of Fully？？Decoupled Two？？Translational and Three？？Rotational Hybrid Robotic Manipulators

为综合得到两移动三转动(2T3R)完全解耦混联机器人机构,基于GF集理论提出了一种简单而有效的解耦混联机构型综合方法,并且给出了完全解耦混联机构型综合的具体设计步骤。首先分析了GF集的运算法则;接着通过GF集元素组合公式和混联机构数综合方程构造了混联拓扑结构,并结合机构输入运动副选择原则和解耦分支设计准则,确保了混联机构运动的解耦性;然后根据该构型综合方法,完成了完全解耦2T3R五自由度混联机构的型综合过程。运用该型综合方法,得到了构成2T3R解耦混联机构各模块单元的组合形式,再以其中一种组合形式为例,综合出了2T3R五自由度完全解耦混联机构,并得到了大量新构型。针对该完全解耦混联机构,求解了机构位置的正解解析表达式,推导出了机构的雅可比矩阵,进而依据此雅可比矩阵表达式,验证了混联机构的完全解耦特性,进一步证明了该构型方法的正确性。基于GF集的完全解耦混联机构型综合方法可用于具有确定运动特征的解耦串联、并联以及混联机构的构型设计。
To obtain the structure of a fully？？decoupled two？？translational and three？？rotational (2T3R) hybrid mechanisms, a simple and effective synthesis of decoupled hybrid mechanism (HM) is proposed and described in detail based on GF set. The basic algorithms for GF set are firstly introduced. The topological structure of the hybrid mechanism is developed by the elements of GF set combination formula and the synthesis equation of the number of hybrid mechanism. Following the selection criterion of the input pair and the design principle of decoupled branches, the movement decoupling of the hybrid mechanism is ensured. According to the type synthesis theory, the combination of each module unit constituting HM is obtained. And taking one kind of the combination form as an example, the structural synthesis of the 2T3R 5？？DOF decoupled hybrid mechanism is finished. Moreover, the expression of Jacobian matrix is deduced, and the decoupling feature of the proposed hybrid mechanisms is validated, which demonstrates the correctness of the novel method of structural synthesis for HMs. The synthesis method proposed also can be used to obtain the structural design of serial, parallel and hybrid mechanisms with decoupled movement features