基于平面五杆闭环结构的空间并联机构类型综合与拓扑分析  

Type Synthesis and Topological Description of Spatial Parallel Mechanisms Based on Five-Bar Closed-Loop Structure

作　　者：贺利乐[1] 刘宏昭[1] 褚金奎[2] 

机构地区：[1]西安理工大学,西安710048 [2]大连理工大学,大连116024

出　　处：《机械科学与技术》2004年第10期1201-1204,1225,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：分析了五杆闭环结构的类型、拓扑描述、组成形式和运动性能 ,重点研究了基于 5R闭环结构与RPRPR闭环结构在空间并联机构中的应用 ,给出了基于五杆闭环结构的空间并联机构的类型综合方法及步骤 ,并综合出了九种空间并联机构的构型。The type, topological description, the construct io n and kinematics performance of a five-bar close-loop structure are analyzed. The application of 5R and RPRPR closed-loop structure to planar parallel mechan isms and spatial parallel mechanisms is studied. A new method and procedure for type synthesis of spatial parallel mechanisms based on a five-bar closed-loop structure is given. Nine new classes of spatial parallel mechanisms are presente d.

关 键 词：五杆闭环结构 空间并联机构 类型 

分 类 号：TH122[机械工程—机械设计及理论]