基于G_F集的3T1R类并联机构构型研究  

Type Synthesis of 3T1R Parallel Mechanisms Based on GF Set

作　　者：史巧硕[1] 高峰[2] 余发国[3] 

机构地区：[1]河北工业大学计算机科学与软件学院,天津300130 [2]上海交通大学机械系统与振动国家重点实验室,上海200240 [3]燕山大学机械工程学院,秦皇岛066004

出　　处：《机械设计与研究》2008年第4期31-34,40,共5页Machine Design And Research

基　　金：国家重点基础研究发展规划973项目(2006CB705400);自然科学基金重点项目(60534020);航空科学基金项目(20060157001)资助

摘　　要：GF集是一种特殊的集合,用于对机构末端的运动特征进行描述。首先介绍GF集的基本概念和基于GF集的并联机构构型方法,而后提出了基于GF集的3T1R并联机构构型方法。根据该构型方法,得到可构成3T1R类并联机构的GF集的各种组成方式,并列举出具有确定运动特征的支链。最后,根据GF集的求交运算法则,构造了3T1R类并联机构。A GF set is utilized to describe the kinematic characteristics of an end - effector of a parallel mechanism, The basic concept of GF set and the type synthesis principle based on Gr set are first introduced. A new method for the type synthesis of 3T1R parallel mechanisms based on GF set is then presented, According to the approach pro- posed in this paper, composing patterns of the GFset of 3T1R parallel mechanisms are obtained. Kinematic limbs with specific kinematic character/stics that can be applied to construct 3T1R parallel mechanisms are then enumerated. Finally, the type synthesis of 3T1R parallel mechanisms is developed using the feasible kinematic limbs.

关 键 词：并联机构 型综合 GF 集 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]