一平移三转动并联机构型综合及分类  

Structural Synthesis and Classification of 1-translational and 3-rotation Parallel Manipulator

作　　者：谢冬福 罗玉峰[1,2] 石志新[1] 何新勇[1] 刘杰[1] 

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]华东交通大学,南昌330013

出　　处：《机械设计与研究》2016年第6期21-24,31,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51365036)

摘　　要：应用基于方位特征集的并联机构拓扑结构设计理论与方法,对一平移三转动(1T-3R)输出的并联机构进行了型综合;在阐述基于方位特征集的并联机构型综合一般过程和步骤的基础上,给出了一平移三转动输出并联机构拓扑结构设计的具体方法;基于该方法得到了39种一平移三转动输出并联机构,包括以前设计出的机型和部分新机型,并对它们进行了分析和分类。Using topological structure synthesis method based on POC set, the type synthesis for 1-translational and 3-rotation parallel mechanisms was studied. Based on the introduction to general process and steps for type synthesis of parallel mechanisms,the concrete operation methods of topological structure design of a 1-translational and 3-rotation parallel mechanism was given. More than thirty-nine kinds of mechanisms were synthesized and classified by this approach, including some previously designed mechanisms and some new mechanisms. And these mechanisms were analyzed and classified.

关 键 词：方位特征集 型综合 一平移三转动 并联机器人 

分 类 号：TH122[机械工程—机械设计及理论]