摘要
提出一种系统的基于螺旋理论的两平移一转动并联机构型综合的方法。它根据螺旋理论中运动螺旋与约束力螺旋之间的互易关系先构造出可能的分支机构,再组合出不同机型的机构。本文利用该方法进行了两移动一转动并联机构的型综合,给出了部分机型,其中包括一些新机型,同时也得到了一种适合作为减振平台的机型。有效的两平移一转动并联机构型综合的方法对扩大减振平台的优选空间,以及机型的创新设计都有一定积极的意义。
Based on the screw theory, the paper presents a systematic method for structural synthesis of the two translations and one rotation parallel robot. According to the reciprocal product between kinetic screw and constrainted screw in screw theory, this method firstly creats possible branch structures and then generates different models of mechanism. By this method, the paper carries on the structural synthesis of the two translations and one rotation parallel robot, and also fists some of the mechanisms including a few new ones. At the same time, another model of vibration absorber can be designed too. So a effective means of structural synthesis of the two translations and one rotation parallel robot is. much significant for enlarging both the practical scope of vibration absorber and the innovative design of new model.
出处
《机械设计与研究》
CSCD
北大核心
2005年第5期29-32,共4页
Machine Design And Research
基金
国家自然基金资助项目(50375067)
关键词
并联机构
螺旋理论
藏振平台
parallel mechanisms
screw theory
vibration absorber
