摘要
基于传统的串联机构单一运动副输出基灵活性和并联机构多运动副输出基稳定性的优点提出一种新型混联S[T]输出基,该输出基的球铰组成构件贯穿连接虎克铰后,仍以球铰组成构件作为输出构件,可以实现空间三维转动。通过在新型混联S[T]输出基两端增加由3个移动副P或/和转动副R的串联支链,并将机构布局在一空间立方体上,得到具有三维空间转动活动能力的3自由度机构构型27种,得到具有三维空间转动和一维空间移动活动能力的3种组合情形下的4自由度机构构型27种,得到具有三维空间转动和二维空间移动活动能力的3种组合情形的5自由度机构构型9种,得到具有三维空间转动和三维空间移动活动能力的6自由度机构构型1种,S[T]输出基和P/R输入基与立方体框架相结合,得到3,4,5少自由度空间混联立方机构构型63种,6自由度空间混联立方机构构型1种,所有64种机构构型的输入驱动数目均满足移动副数目少于或等于6,转动副数目少于或等于6,且任意一种构型中移动副和转动副的总数和为6。基于S[T]输出基和P/R输入基构建的空间混联立方机构进行混联机床的研究具有一定的理论意义与实用价值。
Based on advantages that the flexibility of single couple of serial mechanism and the stability of multi couples of parallel mechanism,a new type of S[T] output base of hybrid mechanism is presented.After the spherical hinge components of this output base run through the Hooke joints,the spherical hinge components are still used as output components,allowing to rotate in three dimensional space.By adding serial branch including three sliding pairs P or/and revolute pairs R to the new type of S[T] output base,and configuring the mechanism in a spatial cubic frame,twenty seven configurations of 3-DOF（degree of freedom）with three dimensional space rotation capability were obtained,twenty seven configurations of 4-DOF under 3 hybrid conditions with three dimensional space rotation and one dimensional space sliding capability were obtained,nine configurations of 5-DOF under 3 hybrid conditions with three dimensional space rotation and two dimensional space sliding capability were obtained,one configuration of 6-DOF under 3 hybrid conditions with three dimensional space rotation and three dimensional space sliding capability were obtained.When combining the S[T] output base and P/R input base with cubic frame,63 kinds of configurations with 3,4 and 5 DOF spatial hybrid cubic mechanism were obtained,one kind of configuration with 6 DOF spatial hybrid cubic mechanism was obtained.The number of drives for all the 64 kinds of mechanism configurations meets the number of sliding pairs is equal to and smaller than 6,the number of revolute pairs is smaller than or equal to 6.And the total number of sliding pairs and revolute pairs in any of the configurations is equal to 6.The research on hybrid machine tools based on the spatial hybrid cubic mechanism will have certain theoretical meaning and practical value.
出处
《机械设计》
CSCD
北大核心
2010年第9期37-42,共6页
Journal of Machine Design
关键词
输出基
输入基
混联
自由度
构型
output base
input base
hybrid
degree of freedom
mechanism
