运用RGRR-Ⅰ并联机构构造混联机床的研究  

Study on Hybrid Serial-parallel Mechanisms Made of RGRR-Ⅰ

作　　者：姜铭[1,2] 周健华[2] 李鹭扬[2] 陈颖鹤[2] 

机构地区：[1]东南大学机械工程学院,南京210036 [2]扬州大学机械工程学院,江苏扬州225001

出　　处：《组合机床与自动化加工技术》2009年第3期75-78,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然基金资助(50675192)

摘　　要：混联机构兼有串联机构工作空间大的优点，又有并联机构刚度大的特征；少自由度并联机构的创新是研究混联机构的关键。提出一种基于新型并联双自由度转动机构（RGRR-Ⅰ）基础上的混联机床，其中RGRR-Ⅰ机构的特点为：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X1、轴360°的转动。运用RGRR—Ⅰ机构构造混联机床，具有刚度高、工作空间大、结构紧凑等优点，通过制造样机，验证了上述结论：Hybrid serial-parallel mechanisms have both big workspace and stiffness, and it is the key for innovating hybrid serial-parallel mechanisms to invent few freedoms parallel machine. In this paper a new hybrid serial-parallel mechanism based on two DOF table which is called RGRR- Ⅰ is studied. A new 2 DOF rotation parallel meehanism（RGRR-Ⅰ ） has many advantages, firstly its moving parts is few （only three）, secondly its workspace is so large that it can sway - 90° -90° around fixed axes Z and rotate 360°around swing X, axes, at last it is stiffer than serial mechanism. Hybrid serial-parallel mechanism made by RGRR- Ⅰ has advantages of high stiffness, big workspace, compactness, etc, which is validated by pattern.

关 键 词：并联机构 刚度 自由度 齿轮 

分 类 号：TG502.1[金属学及工艺—金属切削加工及机床]