nR1 P型单闭环平面运动链的可动性分析  

Mobility Analysis for Single Loop nR1 P-Type Planar Kinematic Chain

作　　者：黄其高[1] 郭为忠[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《上海交通大学学报》2006年第12期2034-2038,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(50405017);上海市高等学校青年科学基金(01QN10)资助项目

摘　　要：基于nR1P型单闭环平面运动链尺度参数的关系,分析了nR1P型运动链的装配条件和周转副存在条件.在此基础上,根据移动副分别为主动副和被动副的情况,得出了运动链的无条件可动性条件.通过算例验证了结论的正确性.由于以运动链为研究对象,故结论将适用于所有nR1P型单闭环平面并联机构.Based on the relationship between the dimensional parameters of single loop nR1P-type planar kinematic chain, this paper analyzed the assembability and the revolvability. The conclusion about unconditional mobility was got according to the active/passive prismatic joint. Finally, some examples were given to prove the validity of the conclusion. As the research object is the kinematic chain, the conclusion is helpful for all nR1P-type planar parallel mechanisms.

关 键 词：nR1P型平面并联机构 可动性 无条件可动性 周转副 

分 类 号：TH112[机械工程—机械设计及理论]