• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2005, Vol. 41 ›› Issue (9): 28-32.

• 论文 • 上一篇    下一篇

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基于拓扑解耦准则的球面并联机构解耦条件研究

杭鲁滨;王彦;吴俊;金琼;杨廷力   

  1. 上海交通大学机械与动力学院;上海交通大学成人教育学院;东南大学机械工程系;南京金陵石化公司
  • 发布日期:2005-09-15

STUDY ON THE DECOUPLING CONDITIONS OF THE SPHERICAL PARALLEL MECHANISM BASED ON THE CRITERION FOR TOPOLOGICALLY DECOUPLED PARALLEL MECHANISMS

Hang Lubin;Wang Yan;Wu Jun;Jin Qiong;Yang Tingli   

  1. School of Mechanical and Power Engineering, Shanghai Jiaotong University Adult Education College of Shanghai Jiaotong University Mechanical Department of Southeast University Nanjing Petrochemical Corporation
  • Published:2005-09-15

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摘要： 具有输入输出解耦特性的并联机构，由于其易于控制，深受欢迎。基于提出的并联机构拓扑解耦准则，针对一种球面解耦并联机构进行了解耦性分析，给出了该机构更一般的解耦条件；更进一步，基于拓扑解耦准则构造了一种更一般的新型球面解耦并联机构。基于拓扑解耦准则进行并联机构解耦特性分析和型综合的方法，对具有拓扑解耦特性并联机构的创新设计和应用具有深远意义。

关键词: 并联机构, 基本运动链(BKC), 解耦, 球面并联机构

Abstract: Parallel mechanisms possessing decoupled property between kinematic input and output parameters are easy to control. Based on the criterion for topologically decoupled parallel mechanisms, the kinematics of an existing 3-DOF decoupled spherical parallel mechanism are analyzed and its more general decoupling condition is put forward, which forms the base for a more generally novel decoupled spherical parallel mechanism. The method presented for topological analysis and synthesis of decoupled parallel mechanisms is of significance for innovative design of parallel mechanisms.

Key words: Basic kinematic chain, Decoupled properties, Parallel mechanism, Spherical parallel mechanism

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