• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (17): 1-7.doi: 10.3901/JME.2015.17.001

• 机构学及机器人 •    下一篇

1T2R 3自由度并联机构拓扑结构综合


  1. 天津大学机构理论与装备设计教育部重点实验室
  • 出版日期:2015-09-05 发布日期:2015-09-05
  • 基金资助:

Type Synthesis of 1T2R 3-DOF Parallel Mechanism

WANG Manxin; HUANG Tian   

  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education
  • Online:2015-09-05 Published:2015-09-05

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。

关键词: 并联机构, 可重构支链, 拓扑结构综合

Abstract: 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.

Key words: parallel mechanism, reconfigurable branched chains, type synthesis