一平移二转动并联稳定平台拓扑结构设计

Topology Structure Design of 1T-2R Parallel Stable Platform

基于方位特征集理论和单开链单元,研究了少自由度并联稳定平台拓扑结构设计方法。并以运动输出为一平移二转动并联稳定平台为例,阐述了少自由度并联稳定平台拓扑结构综合的详细步骤,对包含有一平移二转动输出的单开链支路进行了分析与研究,并选出符合条件的单开链进行排列组合,得到了多种符合条件的拓扑结构类型。设计人员可根据此方法得到支路结构和拓扑参数特征选择最优机型。

Topology structure design of low-DOF parallel stable platform was studied based on POC set theory and SOC unit.Taking the 1-translation and 2-rotation（1T-2R） parallel mechanism as an example,the detail procedure for low-DOF parallel stable platform topology structure design was formulated.The SOC branches with 1T-2R output were presented,and many new 1T-2R topology structure types were obtained by arranging the suitable SOC branches.The design personnel may select the best topology structure from these obtained structure types and its topology parameters based on concrete performance indices and other design requirements.And the method has some reference for other low-DOF stable platforms or PM structure designing and election.