基于构型演变和李群理论的2T2R型四自由度并联机构型综合  

Type Synthesis of 2T2R 4-DOF Parallel Mechanism Based on Configuration Evolution and Lie Group Theory

作　　者：范彩霞[1,2] 刘宏昭[1] 张彦斌[3] 

机构地区：[1]西安理工大学,西安710048 [2]焦作大学,焦作454150 [3]河南科技大学,洛阳471003

出　　处：《中国机械工程》2010年第9期1101-1105,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50575180);陕西省重点学科建设专项基金资助项目;西安理工大学优秀博士学位论文研究基金资助项目(102-210911)

摘　　要：基于构型演变和李群理论提出一类2T2R型四自由度并联机构型综合的系统方法。将6R平面机构某构件两端的R副替换为U副,并添加2条具有六自由度的支链SPS,演变成一个空间并联机构2RRU-2SPS;运用李群理论,综合出等效支链,构造一类2T2R型四自由度并联机构。对一种新型2RPU-2SPS机构,运用单开链法进行自由度的计算和主动副的选取,结果表明所提出的型综合方法正确可行。Based on configuration evolution and Lie group theory a systematic approach for type synthesis of 2T2R 4-DOF parallel mechanism was proposed.Firstly,a 6R planar mechanism was evolved into spatial parallel mechanisms 2RRU2SPS by replacing R pairs with the U pairs at both ends of the link and adding to two SPS branched chains with 6-DOF.Secondly,the equivalent branched chains were identified on the basis of Lie group theory and a family of 2T2R parallel mechanism was synthesized.Finally the calculation of DOF and the selection of active pairs of a novel 2RPU2SPS parallel mechanism were performed by a single opened chain method and the result shows that the method of type synthesis proposed here is correct and feasible.

关 键 词：并联机构 型综合 构型演变 李群理论 

分 类 号：TH112[机械工程—机械设计及理论]