摘要
为了保证3-URS机构实现确定运动,利用螺旋理论进行了分析。描述了机构的单分支约束及所有分支约束的合成,分析了机构约束螺旋系的相关性与冗余约束和局部自由度等因素对机构自由度的影响,根据修正的Grübler-Kutzbach公式计算出并联结构的自由度为6。结果表明,机构实现确定运动需要6个输入运动。
To ensure that the mechanism achieved a certain locomotion,it 3-URS mechanism with screw theory is analyzed.Firstly,the constraint of the each branch and the synthesis' constraints of all branches are analyzed.At the same time the over constraints and passive degree of freedom of the parallel mechanism are illustrated.The freedom of the mechanism is calculated with the amended formula of Grübler-Kutzbach with the result of 6.The result shows that the condition that the mechanism achieved certain locomotion is that 6 inputs were supplied to the mechanism.
出处
《西安邮电大学学报》
2012年第S1期16-18,共3页
Journal of Xi’an University of Posts and Telecommunications
关键词
奇异位形
螺旋理论
自由度
并联机构
singularity,screw theory,mobility,parallel mechanism
