平面3-DOF混联机构构型综合及其同构分析

The Type Synthesis and Isomorphism Analysis of the Planar Hybrid 3-DOF Mechanism

通过应用Assur杆组法及图论理论对平面3-DOF全转动副机构进行了构件分类和构件组合,得到了一种最基本的3条支链对称的运动链结构。然后运用拓扑胚图插点法画出了其拓扑胚图,对其支链进行分类并插入拓扑胚图中,再进行同构分析得到了6种运动链构型。最后,运用一种新的基于构件关系的图论描述方法推导出了此机构的混联构型,并对其进行了应用研究。这些为以后非全转动副平面3-DOF机构的研究打下了基础。同时,通过研究平面3-DOF机构也更加有利于空间少自由度机构的研究。

Through the application of Assur bar groups method and graph theory,the link classification and link composition are finished to get the most basic kinematic chain＇s structure of the planar 3-DOF mechanism with full revolute pairs which has three symmetrical branched chains.Then topological embryonic graph is drawn using the interpolation point method of the topological embryonic graph.The classification of the branched chains is done and the chains are inserted in the topology embryonic graph.Through the isomorphism analysis,the 6 configurations of kinematic chains are obtained.Finally,using a new graph theory description method based on the link＇s relationship the hybrid configuration of planar 3-DOF is obtained,then the application research is proceeded.Doing these can lay the foundation for the study of the planar 3-DOF mechanism with non full revolute pairs.At the same time,the study of the planar 3-DOF mechanism is also more conducive to the research of the spatial lower-freedom mechanism.