摘要
并联机器人的构型设计即型综合是并联机器人设计的首要环节,是机构创新设计的基础。以单开链支路为单元,提出了三自由度球面并联机构型综合的一种系统、有效的方法。按支路运动输出特征矩阵将三自由度球面并联机构分成四种情况分别进行构型综合,对每种情况给出了一个具体机构实例并分析了该机构的基本性能特征,最后总共综合出145种三自由度球面并联机构,这为三自由度球面并联机器人机构类型优选提供了理论依据和更大的选择空间。
Structural synthesis is the key factor in parallel manipulator design and the foundation of mechanism creation design. Based on the Single Opened Chain （SOC） theory, a systematic and effective method to synthesis of 3 - dof spherical parallel mechanisms is proposed. According to the output characteristic matrix of SOC, 3-dof spherical parallel mechanisms are synthesized under four different situations. A concrete mechanism example, whose basic properties features are analyzed, is given for each situation. 145 kind of spherical parallel mechanisms have been synthesized, which provide much more choices and accordance for structure optimization of 3 - dof spherical parallel manipulator.
出处
《南昌大学学报（工科版）》
CAS
2008年第2期150-153,共4页
Journal of Nanchang University(Engineering & Technology)
基金
国家自然科学基金资助项目(50275070)
关键词
球面并联机构
单开链
型综合
spherical parallel mechanisms
single-opened-chain
structural synthesis
