基于单开链的纯转动三自由度并联机器人机型设计方法  

Structure Design of Parallel Robot Mechanism with 3 Rotations Based on Serial-opened-chain Theory

作　　者：杭鲁滨[1] 王彦[1] 吴俊[2] 刘安心[3] 杨廷力[4] 

机构地区：[1]上海交通大学,上海200030 [2]东南大学,南京210096 [3]解放军理工大学,南京210007 [4]南京金陵石化公司,南京210036

出　　处：《中国机械工程》2005年第9期819-822,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(502075070)

摘　　要：基于有序单开链理论与方法,提出了三自由度的动平台可实现三个方向转动的并联机构机型设计方法和过程;给出静平台上以三个转动副或移动副为主动驱动且具有某些拓扑对称性的7种基本机型;按照基本回路的过约束性、机构耦合度、运动输入-输出控制解耦性、拓扑对称性等特性,对所得到纯转动三自由度并联机构进行分类,依不同设计要求,推荐优选机型。Based on the Serial-opened-chain (SOC) theory and method for structure design, structure design of parallel mechanism with 3 rotations was discussed. The design processes were given and 7 such parallel mechanisms were obtained (4 of which were new type mechanism). These mechanisms are topologically symmetric to some extent and 3 actuators of each mechanism can be arranged on its frame platform. These mechanisms are deliberately classified according to their topologically characteristics.

关 键 词：并联机器人 并联机构 拓扑结构特征 机型设计 

分 类 号：TH112[机械工程—机械设计及理论]