• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (21): 54-64.doi: 10.3901/JME.2017.21.054

• 机构学及机器人 • 上一篇    下一篇

基于方位特征方程的3T-1R并联机构的拓扑结构综合

杨廷力1, 刘安心2, 沈惠平1, 杭鲁滨3   

  1. 1. 常州大学现代机构学研究中心 常州 213016;
    2. 解放军理工大学野战工程学院 南京 210007;
    3. 上海工程技术大学机械工程学院 上海 201620
  • 收稿日期:2016-10-08 修回日期:2017-07-09 出版日期:2017-11-05 发布日期:2017-11-05
  • 作者简介:杨廷力,男,1940年出生,教授。主要研究方向为一般机构学、机器人机构学。E-mail:yangtl@126.com
  • 基金资助:
    国家自然科学基金资助项目(51475050,51375062,51365036)。

Topological Structural Synthesis of 3T-1R Parallel Mechanism Based on POC Equations

YANG Tingli1, LIU Anxin2, SHEN Huiping1, HANG Lubin3   

  1. 1. Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213016;
    2. School of Field Engineering, PLA University of Science and Technology, Nanjing 210007;
    3. School of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai 201620
  • Received:2016-10-08 Revised:2017-07-09 Online:2017-11-05 Published:2017-11-05

摘要: 以SCARA并联机器人的发展为背景,用提出的基于方位特征(POC)方程的并联机构结构综合方法,详述可实现三维平动和一维转动(3T-1R)的并联机构拓扑结构综合的完整过程,给出了13种拓扑结构类型(包括现有的3种SCARA并联机器人构型)及其分类,从中还可进一步衍生出具有实用价值的新机型。基于POC方程的并联机构结构综合方法,每一步都有确定的公式或准则,思路清晰、操作方便。

关键词: 并联机构, 单开链, 方位特征, 结构综合, 三平移一转动输出, 自由度

Abstract: The systematic method for topological structural synthesis of parallel mechanism based on POC equations is introduced considering the development of SCARA parallel robot, the complete procedure for structural synthesis of 3T-1R parallel mechanism is discussed using this method. Thirteen types of 3T-1R parallel mechanisms (including 3 types of 3T-1R parallel mechanisms already used for the SCARA parallel robot) were obtained. The structural synthesis method based on POC equations is easy to use since there are explicit formulas or criteria for each step of the synthesis process.

Key words: 3 translations and 1 rotation output, degree of freedom, parallel mechanism, position and orientation characteristic (POC), single-open-chain (SOC), topological structural synthesis

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