摘要
以单开链支路为单元,揭示了对称少自由度并联机器人组成的规律,提出了输出运动为3自由度并联机器人的型综合方法。型综合共得到5种对称的三维平移3自由度的并联机器人和6种对称的三维转动3自由度的并联机器人。
Based on the single-opened-chain（SOC） theory and method for structure design, structure design of parallel mechanism with symmetric 3-DOF＇ was discussed. Some rules of symmetrical minor-mobility mechanism is disclosed. It is an effective method for presenting a structure synthesis approach for forming a 3-DOF parallel manipulator. As examples, 5 kinds of 3T and 6 kinds of 3R parallel mechanisms are designed with this method. These mechanisms are topologically symmetric. These mechanisms are deliberately classified according to their topologically characteristics.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第1期138-141,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:50275070)
关键词
并联机器人
单开链
型综合
Parallel robot, Single-opened-chain, Structure synthesis
