基于广义基本运动链正则解耦混联机构的型综合

Type Synthesis of Canonical Decoupled Hybrid Mechanism Based on Generalized Basic Kinematic Chain

混联机构兼具串联机构与并联机构各自的构型优势,是先进复杂机械装备的重要备选构型之一。依据机构输出运动特征进行位姿分离,通过移动特征正则输出平台模块,与姿态特征正则转动输出的运动副模块串联,构建广义基本运动链。结合正则运动的解耦特征,提出了运动链的正则解耦设计方法。以此为据,建立混联机构的解耦综合。以3T2R混联机构为对象进行了实例综合。研究表明：基于广义基本运动链的正则解耦设计方法可操作性强,对混联机构的解耦设计具有普适性。

Hybrid mechanism is one of important alternative configurations of advanced complex mechanical equipment,which intergrates the configuration advantage of serial mechanism and parallel mechanism. The motion characteristics are decomposed according to the output characteristics of orientation and position. The general basic kinematic chain is established through serial the canonical translation platform module with the module of rotational kinematic pair. Combining the decoupling characteristics of canonical configuration,the decoupling synthesis of the hybrid mechanism is established. The 3 T2 R hybrid mechanism is conducted as an example. The results show that the canonical decoupling design method based on generalized basic kinematic chain is simple and effective,Which is a universaly method for decoupling hybrid mechanism design.