基于BKC的并联机构拓扑结构分析及其型综合方法

Topological structure analysis and type-synthesis method of parallel mechanisms based on BKC

文中研究基于基本运动链（Basic Kinematic Chain,BKC）的并联机构的组成原理、拓扑结构分析及型综合方法。介绍基于序单开链的并联机构BKC的构成原理与方法,举例说明BKC的构成方法与步骤;对已有2-6 DOF并联机构拓扑结构进行分析,归纳设计出44种常用BKC类型,并总结出并联机构的BKC组成规律;通过举例,进一步综合出满足自由度要求的基于BKC的若干种并联机构,表明这种并联机构拓扑结构综合方法简易、实用。

The principle, topological structure analysis and type-synthesis method of parallel mechanisms based on BKC（Basic Kinematic Chain） were studied. Firstly, the composition principle and method of parallel mechanisms BKC based on single-open-chain were introduced, the method and steps of BKC were also illustrated by examples. Then,the topological structures of existing parallel mechanisms with 2-6 DOF were analyzed, 44 common types of BKC were generalized and the rules of parallel mechanisms were summarized. Finally, several parallel mechanisms which meet DOF demands were synthesized based on BKC which showed that the topological structure synthesis approach was simple and practical.