环路螺旋理论在并联机器人机构分析中的运用

Application of Loop Screw Theory in Analysis of the Structure of Parallel Manipulator

3T1R新型并联机器人采用了环路支链这种特殊的结构设计,因此采用常规的几何学分析具有其局限性和复杂性。本文采用了环路螺旋理论对其支链结构进行分析和总结,从而提出设计环路支链的新的方法,并在此基础上设计出具有环路支链的3R1T并联机器人,为具有环路支链并联机器人的设计提供了一条新的研究途径。

A new family of 3T1R 4-dof parallel manipulator adopt a special structure design with loop chains, therefore,conventionality geometry method of analysis with its structure have localization and complexity. In this paper, we introduce a new method-loop screw theory-to analysis and synthesize the special structure of the loop chains. Consequently, we advance an new method for analysis of the loop chains. Base on these analysis, we also design an new structure parallel manipulator with 3R1T 4-dof. The work describe in this paper afford a new research method in design of parallel manipulator with the loop chains.