• CN：11-2187/TH
• ISSN：0577-6686

›› 2002, Vol. 38 ›› Issue (8): 31-36.

• 论文 •

### 基于单开链单元的三平移并联机器人机构型综合及其分类

1. 中国石化金陵石化公司;解放军理工大学;江苏石油化工学院;南昌大学
• 发布日期:2002-08-15

### STRUCTURAL SYNTHESIS AND CLASSIFICATION OF THE 3DOF TRANSLATIONAL PARALLEL ROBOT MECHANISMS BASED ON THE UNITS OF SINGLE-OPENED-CHAIN

Yang Tingli;Jin Qiong;Liu Anxin;Shen Huiping;Luo Yufeng

1. SINOPIC Jinling Petrochemical Corp. Southeast University PLA University of Science and Technology Jiangsu Institute of Petrochemical Technology Nanchang University
• Published:2002-08-15

Abstract: Based on the units of single-opened-chain limb, some structural laws of degenerate-rank parallel robot mechanisms are revealed, and a systematic and effective new method for structural synthesis of 3DOF translational parallel robot mechanisms is put forward. 33 mechanisms are synthesized and classified, 29 of which are presented for the first time. The method is of universal significance and is used for the structural synthesis of degenerate-rank parallel robot mechanisms with other kinematics output types.