基于方位特征集的两平移两转动并联机构拓扑结构综合与分类

Structural Synthesis and Classification of 2-Translational and 2-Rotation Parallel Manipulator Based on POC Approach

基于方位特征集(POC)的并联机器人结构综合的一般方法,全面系统地对两平移两转动的并联机器人机构进行了结构综合,先对包含有两平移两转动输出的单开链支路进行综合,然后按单开链支路类型对设计的两平移两转动并联机器人进行分类,得到的机型中包括一些以前设计出的机型和部分新的机型。

A systematically approach for structure synthesis of parallel manipulator based on position and orientation characteristic （POC） matrix, by which a detailed application was focused on the synthesis of 2-translation and 2-rotation parallel mechanisms. SOC branches which included 2-translation and 2-rotation output were synthesized, and synthesized parallel mechanisms were classified according to SOC branches types. The result involves not only part known mechanisms, but also some novel mechanisms.