摘要
在分析三平移并联机构结构组成、运动输出特点的基础上,用螺旋理论的方法研究了并联机构实现三平移的必要和充分条件,根据实现三平移的运动条件及机构支路的结构特点,设计了一种新型非对称的三平移并联机构。该机构具有良好的运动解耦性、易控制、加工简单等特点,该研究亦为三平移并联机构的分析与综合打下了基础。
Necessary and sufficient conditions of 3-DOF pare translational parallel manipulator were studied by screw theory on the base of structure and kinematic output. A new kind of dissymmetrical 3-DOF pare translational parallel manipulator was designed in the light of motion conditions and structure characteristic of leg structure simultaneously. It seemed to have good decoupled property between the input and the output motion, easy controlling, simple manufacturing etc. and it laid the foundations for the synthesis of other new kind of 3-DOF pare translational parallel manipulator.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第10期112-115,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(项目编号:50375067)
山东省自然科学基金资助项目(项目编号:Y2003F01)
山东理工大学科研基金资助项目(项目编号:2004kJM05)
关键词
并联机构
螺旋理论
自由度
设计
Parallel mechanism, Screw theory, Degree of freedom, Design
