Displacement manifold method for type synthesis of lower-mobility parallel mechanisms  

作　　者：LI Qinchuan HUANG Zhen Jacques Marie Hervé 

机构地区：[1]Center of Integration Engineering,Zhejiang University of Sciences,Hangzhou 310033,China [2]Robotics Research Center,Yanshan University,Qinhuangdao 066004,China [3]Ecole Centrale Paris,France

出　　处：《Science China(Technological Sciences)》2004年第6期641-650,共10页中国科学（技术科学英文版）

基　　金：the National Natural Science Foundation of China (Grant No. 50075074).

摘　　要：Type synthesis of lower-mobility parallel mechanisms is a hot and frontier topic in international academic and industrial field. Based on the Lie group theory, a displacement manifold synthesis method is proposed. For all the nine kinds of lower-mobility parallel mechanisms, the mechanism displacement manifold, limb displacement manifold and the geometrical conditions which guarantee that the intersection of the limb displacement manifold is the desired mechanism displacement manifold are enumerated. Various limb kinematic chains can be obtained using the product closure of displacement subgroup. Parallel mechanisms can be constructed with these limbs while obeying the geometrical conditions. Hence, all the nine kinds of lower-mobility parallel mechanisms can be synthesized using this method. Since displacement manifold deals with finite motion, the result mechanism of synthesis have full-cycle mobility. Novel architectures of lower-mobility parallel mechanisms can be obtained using this method.

关 键 词：lower-mobility parallel mechanisms Lie group displacement manifold type synthesis 

分 类 号：TH[机械工程]