基于GF集的三自由度移动并联机构构型研究  

Type Synthesis of 3-DOF Translational Parallel Mechanisms Based on G_F 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：《上海交通大学学报》2008年第7期1109-1115,共7页Journal of Shanghai Jiaotong University

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

摘　　要：GF集是对机构末端的运动特征进行描述的集合.介绍GF集的基本概念、求交运算法则和基于GF集的并联机构构型理论,提出了基于GF集的三自由度移动并联机构构型方法.根据该构型理论,得到可构成三自由度移动并联机构的GF集的各种组成方式,并列举出具有确定运动特征的支链,利用这些支链构造了三自由度移动并联机构.最后,根据GF集的求交运算法则,分析了一种具有三自由度移动特征的并联机构.A GF set is utilized to describe the kinematic characteristics of an end effector of a parallel mecha nism. The basic concept of GF set, intersection algorithms and the type synthesis principle based on GF set are first introduced. A new method for the type synthesis of 3-DoF （degree-of-freedom） translational par allel mechanisms based on GF set is then presented. According to the approach proposed in this paper, composing patterns of the GF set of 3 DoF translational parallel mechanisms are obtained. Kinematic limbs with specific kinematic characteristics that can be applied to construct 3-DoF translational parallel mecha nisms are then enumerated. The type synthesis of 3 DoF translational parallel mechanisms is developed using the feasible kinematic limbs in sequence. Finally, a novel 3-DoF translational parallel mechanism is analyzed through the intersection algorithms of GF set to demonstrate the methodology.

关 键 词：并联机构 机构构型 三自由度 

分 类 号：TH112[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]