• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 84-89.

• 论文 • 上一篇    下一篇

新型3自由度可约移动并联机构的构型及设计

张勇;高峰   

  1. 燕山大学机械工程学院;上海交通大学振动、冲击、噪声国家重点实验室
  • 发布日期:2005-08-15

TYPE SYNTHESIS AND DESIGN OF A NOVEL 3-DOF REDUCIBLE TRANSLATIONAL PARALLEL MANIPULATOR

Zhang Yong;Gao Feng   

  1. College of Mechanical Engineering, Yanshan University State Key Laboratory of Vibration, Shock & Noise, Shanghai Jiaotong University
  • Published:2005-08-15

摘要: 提出了一般可约系统的定义。从研究运动不耦合的3自由度移动并联机构的输入输出关系出发,给出了3自由度可约移动并联机构的定义和判定充要条件。定义了一种新的Gf坐标,利用此坐标给出了可约并联机构的型综合一般过程,并综合出了5种3自由度可约移动并联机构。针对这类机构的特殊性能,以其中一种机构为例,基于机构动平台参考点的工作空间进行了优化设计。

关键词: Gf坐标, 可约机构, 型综合, 优化设计

Abstract: The definition of general reducible system is proposed. The relationship between the inputs and outputs of the 3-DOF translational parallel manipulator with independent motions is investigated. The definition of the 3-DOF reducible translational parallel mechanism is presented. Further more, the satisfying and necessary conditions for the judgment of this kind of mechanisms is given. A new Gf coordinates is defined for the type synthesis of the reducible parallel mechanisms. And five such mechanisms are presented. Taking one of them as example, a new optimization design method based on the workspace of the moving platform is also presented.

Key words: Grcoordinates, Optimization design, Reducible mechanisms, Type synthesis

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