对称三自由度并联机器人拓扑结构型综合与分类  

Structure Design Sort of Parallel Robot Mechanism with Symmetric 3-DOF

作　　者：陈红亮[1] 罗玉峰[1] 杨廷力[2] 

机构地区：[1]南昌大学机电工程学院 [2]中国石油化工集团金陵石油化工公司

出　　处：《农业机械学报》2008年第1期138-141,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(项目编号:50275070)

摘　　要：以单开链支路为单元,揭示了对称少自由度并联机器人组成的规律,提出了输出运动为3自由度并联机器人的型综合方法。型综合共得到5种对称的三维平移3自由度的并联机器人和6种对称的三维转动3自由度的并联机器人。Based on the single-opened-chain（SOC） theory and method for structure design, structure design of parallel mechanism with symmetric 3-DOF＇ was discussed. Some rules of symmetrical minor-mobility mechanism is disclosed. It is an effective method for presenting a structure synthesis approach for forming a 3-DOF parallel manipulator. As examples, 5 kinds of 3T and 6 kinds of 3R parallel mechanisms are designed with this method. These mechanisms are topologically symmetric. These mechanisms are deliberately classified according to their topologically characteristics.

关 键 词：并联机器人 单开链 型综合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]