含有闭回路结构的二平移一转动并联机器人机构型综合  

Structural Synthesis of 2T1R-Type Parallel Robot Mechanisms containing closed loop

作　　者：陈美丽[1] 吴鑫[1] 张彦斌[2] 

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]河南科技大学建筑工程学院,河南洛阳471003

出　　处：《机械传动》2009年第1期31-33,37,共4页Journal of Mechanical Transmission

基　　金：河南省自然科学基金项目(0211062100)资助

摘　　要：构造了多种包含二平移一转动(2T1R)运动输出的混合链结构,基于有序单开链单元原理,综合出10种新型2T1R型空间并联机器人机构。机构的主动副均直接安装在静平台或接近静平台处,以利于减小机构的运动惯性。分析了各个机构基本特征,如主动副配置、耦合度和运动输入-输出控制解耦性,为机型的优选提供了一定的依据。A series of hybrid kinematic chains containing 2-transla-tional and 1-rotational (2T1R) kinematic outputs were constructed. Ten new types of 2T1R spatial parallel robot mechanisms were obtained based on the single-opened-chain (SOC) unit theory. All the new mechanisms actuators are directly mounted on the bases or near the bases, which contributes to decrease mechanisms' inertia. The fundamental characteristics of the mechanisms, such as the attribution of the actuators, coupling degree and kinematic decoupling, were analyzed, which provides references for the optimal selection of the mechanisms synthesized here.

关 键 词：并联机构 混合链 型综合 耦合度 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]