基于拓扑维度综合的串并联机构构型与奇异研究

Study on configuration and singularity of series parallel mechanism based on the synthesis of topological dimensionality

传统的串联和并联机构自由度分析和奇异分析方法,对于串并联机构不具有直接适用性,通过利用3种实际拓扑单元和一种虚拟拓扑单元,结合各拓扑单元空间活动能力的拓扑维度综合法,对串并联机构的构型进行了分析,并得到了其空间活动能力拓扑维度的一般计算公式与过程,基于计算的结果可以对机构的奇异性进行分析。

The traditional analytical methods of degree of freedom and of singularity for the series parallel mechanism does not have direct adaptability for series parallel mechanism. By means of utilizing three kinds of practical topological units and a kind of virtual topological unit and by combining with the synthetic method for topology dimensionality of the spatial active ability of each topological unit an analysis on the configuration of series parallel mechanismwas carried out. The common calculation formula and process of the topological dimensionality of the configuration＇ s spatial aetive ability were obtained as well. Based on this result of computation the a, nalysis on the singularity of mechanism could be carried out.