平面2T1R并联机构无过约束构型设计  

Synthesis of planar 2T1R non-overconstrained parallel mechanisms

作　　者：黄勇刚[1] 黄茂林[1] 

机构地区：[1]重庆大学机械工程学院,重庆400030

出　　处：《重庆大学学报（自然科学版）》2009年第5期481-486,共6页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(50075087)

摘　　要：基于螺旋理论和集合论原理,根据动平台所受约束与支链约束之间的关系,分析平面2T1R并联机构无过约束构型条件,得到了6种3支链结构的约束配置方式。根据支链约束要求,采用转动副和移动副设计具体的支链结构,并按不同支链间约束配置方式确定各支链运动副轴线的几何布置,综合出了一类新的完全对称结构和非完全对称结构无过约束平面2T1R并联机构。Based upon screw theory and set theory, and according to the constraint system between mobile platforms and limbs, the structural conditions of non-overconstrained planar 2T1R parallel mechanisms are proposed. Six types of limb constraint patterns are found. Using R and P pairs, limb structures are built according to the constraint requirements. The geometrical conditions of kinematic pairs between different limbs are obtained based on the limb constraint pattern. Finally, a series of novel symmetrical and asymmetrical structures are constructed.

关 键 词：螺旋 平面2TIR并联机构 无过约束构型 构型设计 

分 类 号：TH112.1[机械工程—机械设计及理论]