空间并联机构的自由度分析

Analysis of the Degree of Freedom in Spatial Parallel Mechanisms

综述了空间并联机构自由度的分析与计算方法,在此基础上具体分析了几种典型的并联机构的自由度。对于特殊的空间并联机构,也介绍了一种确定动平台自由度及其运动类型的方法。

Several methods for solving the analysis and calculation problems of the degree of freedom in spatial parallel mechanisms are introduced.Several typical spatial parallel mechanisms are analyzed.For special spatial mechanisms,a general method for calculating the numeral,type,and direction properties of DOF configurations of the motion platforms are introduced.