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提出一种新型2-TPR/2-TPS空间4自由度并联机构。机构的运动平台通过两个相邻的TPR分支运动链和两个相邻的TPS分支运动链与固定平台相联接。每个TPR分支由一个胡克铰T、一个移动副P和一个转动副R组成,一端通过胡克铰T与固定平台相联,另一端通过转动副R与运动平台相联;每个TPS分支由一个胡克铰T、一个移动副P和一个球面副S组成,一端通过胡克铰T与固定平台相联,另一端通过球面副S与运动平台相联。运用约束螺旋理论,对机构的运动性质和奇异位形进行分析。机构运动平台具有沿两个TPR分支所在平面的二维移动自由度,和以两个TPR分支胡克铰二级转动副轴线所在平面内的任何直线作为转轴的二维转动自由度。选取4个分支运动链的移动副作为驱动副,发现了机构可能出现的四种奇异位形。
A new 2-TPR / 2-TPS space 4 DOF parallel mechanism is proposed. The mechanism’s kinematic platform is connected to the fixed platform via two adjacent TPR branching kinematic chains and two adjacent TPS branching kinematic chains. Each TPR branch is composed of a Hook hinge T, a moving pair P and a turning pair R. One end of the TPR branch is connected to the fixed platform via a hook hinge T, and the other end is connected to the moving platform through a turning pair R. Each TPS branch is composed of a Hook hinge T , A moving pair P and a spherical surface S, one end is connected with the fixed platform through the Hook hinge T, and the other end is connected with the moving platform through the spherical surface S. The constrained spiral theory is used to analyze the mechanism of movement and the singularity of the mechanism. The machine kinematic platform has a two-dimensional degree of freedom of movement along the plane where the two TPR branches are located and two-dimensional degrees of freedom of rotation with any straight line in the plane where the two TPR branches Hook hinge secondary rotors lie. Select four branches of the kinematic chain movement deputy as a driver, found that the agency may appear four strange bitmap.