基于单开链单元的三转动并联机构型综合及其分类

Structural Synthesis and Classification of 3-Rotation Parallel Manipulator Based on SOC

以单开链为单元,基于方位特征(POC)集理论,对三转动并联机构进行了型综合,给出了三转动输出并联机构型综合的一般步骤和具体实例。基于该理论方法得到了48种三转动输出并联机构,包括以前设计出的一些机构和部分新机构,并根据拓扑结构特征对其进行了分析和分类。

Using topological structure synthesis method based on position orientation characteristics(POC)set with a unit of single open chain(SOC),the type synthesis of three-rotation(3R)parallel mechanisms is studied.The general steps and concrete examples of the topological structure type synthesis of 3R parallel mechanisms were given.Based on this method,48 kinds of three rotating output(OT3R)parallel mechanisms were obtained,including some previously designed institutions and some new ones.They are analyzed and classified according to the characteristics of topological structure.