摘要
提出一种的两自由度并联机构,能实现俯仰和横滚运动。运用螺旋理论描述单个分支约束及所有分支约束的合成,并从几何上直接分析约束的线性相关性,判别出机构自由度的性质,同时给出公共约束,冗余约束存在的几何条件和相应的判别计算公式,在此基础上得到2自由度并联机构自由度计算的修正Grübler-Kutzbach计算公式。
This paper introduces a two degree of freedom platform, which can realize pitching and the rolling motion. The limb constraint and the combined effect of all limb constraints can be described using screw theory. The linear dependence of all limb constraints cart be judged geometrically and the properties of mobility can be obtained. Further, the geometrical conditions of existence of common constraint and redundant constraint are proposed with corresponding equations. A revised Grtibler-Kutzbach criterion and a degree of freedom in terms of constraint analysis are proposed. The methodology introduced here is applicable to a 2-DOF parallel mechanisms.
出处
《机械工程师》
2008年第5期50-52,共3页
Mechanical Engineer
基金
黑龙江省教育厅资助项目(11511068)
