并联机构的解耦特性

Decoupling Characteristics of Parallel Mechanism

提出了几个关于解耦的新概念,以期更简便有效地研究机构的解耦特性。针对某些更便于在动坐标系下描述的情况,引入了相对于传统解耦(即绝对坐标解耦)而言的动坐标解耦的概念。引入条件解耦用于描述冗余自由度为固定输出时,其他各变量间的解耦特性。所提出的概念从更普遍的意义上揭示了解耦的本质特征。在阐明新概念的基础上,给出了相应的实例予以佐证。

New concepts of decoupling were brought forward, aiming to study the decoupling characteristics of parallel mechanisms simply and effectively. Relative coordinate decoupling concept, the counterpart of conventional decoupling, was constructed to depict special conditions which were easy for the relative coordinate. When the redundant DOFs were taken as constant outputs, conditional decoupling concept can be used for the investigation of decoupling characteristics among the residual output variables. They have more general meanings and explain exactly the essence of decoupling. Some examples are given accordingly, which prove the validity of the above concepts and methods.