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1T2R3自由度并联机构拓扑结构综合 被引量：21

Type Synthesis of 1T2R 3-DOF Parallel Mechanism
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摘要 研究1T2R 3自由度UP和UPR-SPR型等效运动并联机构的拓扑结构综合方法。该方法借助虚拟链法综合思想,在分析UP和UPR-SPR虚拟链约束旋量系的基础上,以4、5自由度支链为机构分支运动链,揭示其运动副轴线需要满足的几何条件,由此得到多种含冗余驱动/过约束的新构型。在此基础上,提出采用在移动副两端配置若干转动副构造4、5自由度可重构支链来搭建各种1T2R 3自由度并联机构的可行方案。 Type synthesis of 1T2R 3-DOF UP and UPR-SPR equivalent parallel mechanisms is presented. By using virtual chain approach, the geometric conditions of the joints axes of the 4 and 5-DOF branched chains for these parallel mechanisms are investigated on the base of the wrench system of UP and UPR-SPR virtual chain, leading to a lot of new 3-DOF parallel mechanisms with actuation redundancy and/or over constraint. By linking several revolute joints to a kind of telescopic leg, lots of 4 and 5-DOF reconfigurable branched chains are proposed, which can be used to build various 1T2R 3-DOF parallel mechanisms.
作者 汪满新 黄田
机构地区 天津大学机构理论与装备设计教育部重点实验室
出处 《机械工程学报》 EI CAS CSCD 北大核心 2015年第17期1-7,共7页 Journal of Mechanical Engineering
基金 国家自然科学基金重点(51135008) 教育部高校博士点基金(20110032130006)资助项目
关键词 并联机构 拓扑结构综合 可重构支链 parallel mechanism type synthesis reconfigurable branched chains
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献17

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二级参考文献50

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共引文献95

同被引文献195

引证文献21

二级引证文献104

机械工程学报
2015年 第17期

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