• CN:11-2187/TH
  • ISSN:0577-6686

›› 2002, Vol. 38 ›› Issue (8): 31-36.

• 论文 • 上一篇    下一篇

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

杨廷力;金琼;刘安心;沈惠平;罗玉峰   

  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

摘要: 以单开链支路为单元,揭示了并联机器人机构结构组成的某些规律,提出了三平移并联机器人机构型综合的一种系统、有效的新方法。型综合共得到33个机构,并进行了分类。其中29个机构为首次给出。提出的三平移并联机器人机构型综合方法具有普遍性意义,并已用于其他运动输出类型的欠秩并联机器人机构的型综合。

关键词: 并联机器人机构, 单开链支路, 欠秩, 型综合

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.

Key words: Degenerate-rank Single-opened-chain limb, Parallel robot mechanisms, Structural synthesis

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