摘要
分析了一种特殊结构的 3- TPT并联机构的瞬时运动特性。首先用反螺旋分析了 3- TPT并联平台机构在初始位形下和沿垂直定台方向移动时的瞬时运动及两种位形下的瞬时运动。其次分析了该两种位形下的主螺旋。得出 :该机构在初始位形下和沿垂直定台方向移动时 ,机构有 5个自由度 ;在两种给定位形下只有 3个自由度。这种 3-TPT机构在不同的位形下性能差别很大 ,利用这种性质 ,该机构可用作五自由度微动机构 ,也可用作变自由度机构。本文的研究 。
We studied the instantaneous kinematics of a special 3 TPT parallel platform manipulator. We first analyzed the instantaneous motions of 3 TPT parallel manipulator at initial configuration, after translation along Z axis, and when there are two configurations, by reciprocal screw. Then we studied principal screws at the two configurations. We find that it has five degrees of freedom at initial configuration and after translation along Z axis. At the two given configurations, the mechanism only has three degrees of freedom. The performances of such 3 TPT mechanisms are very different for different configurations. Therefore, the parallel platform manipulator can be used as five degrees of freedom mechanisms and instantaneous mechanisms.
出处
《机械科学与技术》
CSCD
北大核心
2003年第3期456-458,464,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
空间并联机构
运动分析
机构性能
Parallel manipulator
Mechanism kinematic analysis
Mechanical performance
