并联转动机构RGRR的研究及分析  

Research on the Rotation PKM Named by RGRR

作　　者：姜铭[1,2] 李鹭扬 易红[1] 周建华 

机构地区：[1]东南大学,南京210036 [2]扬州大学,扬州225001

出　　处：《中国机械工程》2009年第5期577-580,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50675192)

摘　　要：提出一种新型的并联双自由度转动机构（RGRR-I）。RGRR-I机构的特点如下：耦合度为零，便于分析与研究其机构运动学和动力学；机构活动构件少，仅有三个活动构件；工作空间大，可以实现绕固定坐标系Z轴的摆动（幅度为-90°～90°），以及绕摆动轴X_1轴360°的转动；相对于双自由度串联转动关节，具有刚度好的优点。在虚拟样机基础上完成原理样机的制造，并进行了实验验证。A new 2 DOF rotation parallel mechanism was developed, which had advantages. One of advantages is that it has no coupling. The other is that the number of moving parts is few （only three）. The most important advantage is that its workspace is so big that it can sway -90°～90°around fixed axes Z and rotate 360° around swing X_1 axes. Finally, it is stiffer than serial machine. The virtual prototype and principle machine were made to prove the result. It will have wide use in designs of machine tools and robots.

关 键 词：并联运动机构(PKM) 拓扑 转动 自由度 

分 类 号：TH112[机械工程—机械设计及理论]