9R-Ⅲ级组平面并联机构的曲柄存在条件

Crank Existence Condition of 9R-Ⅲ Group Planar Parallel Mechanism

为使整周转动的常速电动机能够提供混合驱动的动力 ,针对对称结构的 3- DOF的 9R- 级组平面并联机构的构型 ,研究了各构件长度与曲柄存在的关系 .根据构型的可装配条件 ,推导了不同杆长关系下的曲柄存在条件 .

In order to provide power by use of constant speed motor in the hybrid driven mechanisms, the relationship between the crank existence condition and the link lengths of the mechanism was researched, according to the 9R Ⅲ group symmetrical planar parallel mechanism. According to the law of the mechanism's assemblability, the crank existence conditions were obtained under the different relationship among link lengths. The results are the design basis of the configuration of the hybrid driven 3 DOF planar parallel mechanisms.