摘要
以SCARA并联机器人的发展为背景,用提出的基于方位特征(POC)方程的并联机构结构综合方法,详述可实现三维平动和一维转动(3T-1R)的并联机构拓扑结构综合的完整过程,给出了13种拓扑结构类型(包括现有的3种SCARA并联机器人构型)及其分类,从中还可进一步衍生出具有实用价值的新机型。基于POC方程的并联机构结构综合方法,每一步都有确定的公式或准则,思路清晰、操作方便。
The systematic method for topological structural synthesis of parallel mechanism based on POC equations is introduced considering the development of SCARA parallel robot, the complete procedure for structural synthesis of 3 T-1 R parallel mechanism is discussed using this method. Thirteen types of 3 T-1 R parallel mechanisms（including 3 types of 3 T-1 R parallel mechanisms already used for the SCARA parallel robot） were obtained. The structural synthesis method based on POC equations is easy to use since there are explicit formulas or criteria for each step of the synthesis process.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2017年第21期54-64,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(51475050
51375062
51365036)
关键词
并联机构
三平移一转动输出
结构综合
方位特征
单开链
自由度
parallel mechanism
topological structural synthesis： 3 translations and 1 rotation output
position and orientation characteristic （POC）
single-open-chain （SOC）
degree of freedom
