Research On Design Method Of Parallel Mechanism And Hybrid Mechanism

The parallel mechanism and hybrid mechanism are two kinds of new mechanisms in the modern industry,and have higher rigidity,precision and bearing capacity comparing with the traditional series mechanism,so are widely used in the aerospace,industrial machine,robot operators.At present,the research on the parallel mechanism is mainly focused on the innovative design of the configuration,and the research on the design method is less.Improving the configuration design method of the parallel mechanism,using a more simple and intuitive way to construct the parallel mechanism with better performance,achieving structure simplification of parallel mechanisms and functional integration,can reduce manufacture and control costs and meet more industrial needs,promoting the development of modern industrial technology.In this paper,the subchain of parallel mechanism is used as the research point,and basic subchains whose constraint is a force or a couple using reciprocal screw property are constructed.Based on this,the design method of parallel mechanism based on the basic subchain configurations is presented.Firstly,based on the method of using the constraint screw to synthesize parallel mechanisms,the “geometric method” to solve the reciprocal screw proposed by Huang is used to construct the basic subchain configurations of the parallel mechanism.Based on this,in order to realize the configuration of parallel mechanisms with same movement requirements,basic subchains are transformed and combined,and type synthesis method of parallel mechanism based on basic subchain configurations is proposed,eliminating the complex operation process using the “algebraic method” to solve the constraints of the subchains,greatly simplifying the type synthesis process of parallel mechanism.Secondly,in order to realize the innovative design of reconfigurable parallel mechanism,the design method of metamorphic parallel mechanism is proposed.By analyzing the working mode transformation method of existing reconfigurable mechanism and characteristics of the basic subchain configurations,the basic subchain configurations are transformed into reconfigurable configurations.According to the constraint of the parallel mechanism,reconfigurable subchains is combined,and the design method of metamorphic mechanism based on the basic subchain configurations is proposed,obtaining various new types of reconfigurable configurations.In order to combine the advantages of series and parallel mechanism,the configuration of the hybrid mechanism is constructed.Based on the reconfigurable and type synthesis method of parallel mechanism proposed,the design method of the hybrid mechanism based on the basic subchain configurations is proposed.And combine the design and analysis method of the hybrid mechanism,new types of hybrid mechanisms are constructed,improving the performance of mechanisms.