基于方位特征集的两平移一转动并联机构综合及分类  

Structural Synthesis of 2-Translational and 1-Rotation Parallel Manipulator Based on the POC-Based Approach

作　　者：罗玉峰[1,2] 陈超[1] 石志新[1] 刘文军[3] 刘卓[1] 

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]新余学院,江西新余338031 [3]南昌工程学院,江西南昌330099

出　　处：《南昌大学学报（工科版）》2011年第1期41-44,共4页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金资助项目(50875261)

摘　　要：基于方位特征集的并联机器人结构综合的一般方法,全面系统地对两平移一转动的并联机器人机构进行了结构类型综合,对包含有两平移一转动输出的单开链支路进行了分析与研究,筛选出符合条件的单开链类型,并对单开链支路进行排列组合得到一系列两平移一转动输出的并联机构。文中给出了其中38种结构类型,并按单开链支路类型对设计的两平移一转动并联机器人进行分类。Based on position and orientation characteristic（POC） matrix,a systematically approach for structure synthesis of parallel manipulator was introduced,by which a detailed application was focused on the synthesis of 2-translation and 1-rotation parallel mechanisms.The SOC branches with 2-translation and 1-rotation output were presented.Arranging these suitable SOC branches,a series of parallel manipulators with 2-translation and 1-rotation output were shown,and 38 kinds of parallel mechanisms were especially studied in this paper.At last,necessary classification and analysis for the parallel mechanisms were accomplished according to SOC branches types.

关 键 词：并联机器人 结构综合 二平移一转动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]