摘要
具有输入输出解耦特性的并联机构,由于其易于控制,深受欢迎。基于提出的并联机构拓扑解耦准则,针对一种球面解耦并联机构进行了解耦性分析,给出了该机构更一般的解耦条件;更进一步,基于拓扑解耦准则构造了一种更一般的新型球面解耦并联机构。基于拓扑解耦准则进行并联机构解耦特性分析和型综合的方法,对具有拓扑解耦特性并联机构的创新设计和应用具有深远意义。
Parallel mechanisms possessing decoupled property between kinematic input and output parameters are easy to control. Based on the criterion for topologically decoupled parallel mechanisms, the kinematics of an existing 3-DOF decoupled spherical parallel mechanism are analyzed and its more general decoupling condition is put forward, which forms the base for a more generally novel decoupled spherical parallel mechanism. The method presented for topological analysis and synthesis of decoupled parallel mechanisms is of significance for innovative design of parallel mechanisms.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第9期28-32,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(502075070)。
关键词
并联机构
球面并联机构
解耦
基本运动链(BKC)
Parallel mechanism Spherical parallel mechanism Decoupled properties Basic kinematic chain
