平面3-RRR型混联机构的曲柄条件和可动性研究

Research on Crank Condition and Rotatability of a Planar 3-RRR Hybird Mechanism

在传统平面三支链并联机构的基础上,提出一种平面三自由度混联机构。通过杆件的曲柄条件研究了机构的可动性。扩展了可装配性定理和可动性准则,并应用这些准则对该混联机构中存在的曲柄进行了详细的分类。根据杆件尺寸之间的约束条件,推导出机构的曲柄条件,由该条件能快速判断机构中曲柄的存在性和机构类型,为该机构的深入研究提供了基础。

A planar three DOF hybrid mechanism is proposed based on the traditional planar three - limb paral- lel mechanism. The rotatablility of the hybrid mechanism is investigated by the crank condition. The theorem of the as- semblability and rotatability criterion are extended and these criteria are applied to detailly classfy the crank types for the hybrid mechanism. The crank conditions of the hybrid mechanism are deduced according to link constraint dimensions. The conclusions are helpful for quickly judging the existence and the type of crank situations. It is the base to further research about the hybrid mechanism.