伸缩杆式二自由度并联机构及应用  

Telescopic Rod Type Parallel Mechanism of Two Degrees of Freedom and Application

作　　者：蔡善乐[1] 张忠政[1] 王彦杰[1] 黄亚洲[1] 王超[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《新技术新工艺》2013年第12期108-110,共3页New Technology & New Process

摘　　要：介绍一种伸缩杆式二自由度并联机构的结构特点,该并联机构的动平台可实现空间内二自由度的转动。利用螺旋理论分析该并联机构的自由度,并对其进行位置正反解分析,得出相对应的数学模型,并确定伸缩杆长的变化与空间翻转角度的关系,以及翻转角度与结构尺寸的关系。将该并联机构应用于自动化数控夹具,通过调节杆长,可实现将空间任意平面翻转至水平面,便于空间任意平面和孔的加工,扩大了机床的加工功能。Firstly, this paper introduces the structure characteristics of the parallel mechanism which can realize two degrees of freedom rotation. Then the DOF （degrees of freedom） of this structure was achieved by screw theory and the posi rive and negative solution analysis of its position was also performed. Finally, the positive and negative solution model of the structure position was obtained and this model can be used conveniently to design and analyze the structure. It can be used in automatic fixture making machining conveniently to realize the arbitrary spatial plane flip to horizontal plane, space plate, holes machining, which enlarged the function of machine tool.

关 键 词：二自由度 并联机构 螺旋理论 位置分析 

分 类 号：TH112[机械工程—机械设计及理论]