机械工程学报
機械工程學報
궤계공정학보
Journal of Mechanical Engineering
2015年
17期
1-7
,共7页
并联机构%拓扑结构综合%可重构支链
併聯機構%拓撲結構綜閤%可重構支鏈
병련궤구%탁복결구종합%가중구지련
parallel mechanism%type synthesis%reconfigurable branched chains
研究1T2R 3自由度UP和UPR-SPR型等效运动并联机构的拓扑结构综合方法.该方法借助虚拟链法综合思想,在分析UP和UPR-SPR虚拟链约束旋量系的基础上,以4、5自由度支链为机构分支运动链,揭示其运动副轴线需要满足的几何条件,由此得到多种含冗余驱动/过约束的新构型.在此基础上,提出采用在移动副两端配置若干转动副构造4、5自由度可重构支链来搭建各种1T2R 3自由度并联机构的可行方案.
研究1T2R 3自由度UP和UPR-SPR型等效運動併聯機構的拓撲結構綜閤方法.該方法藉助虛擬鏈法綜閤思想,在分析UP和UPR-SPR虛擬鏈約束鏇量繫的基礎上,以4、5自由度支鏈為機構分支運動鏈,揭示其運動副軸線需要滿足的幾何條件,由此得到多種含冗餘驅動/過約束的新構型.在此基礎上,提齣採用在移動副兩耑配置若榦轉動副構造4、5自由度可重構支鏈來搭建各種1T2R 3自由度併聯機構的可行方案.
연구1T2R 3자유도UP화UPR-SPR형등효운동병련궤구적탁복결구종합방법.해방법차조허의련법종합사상,재분석UP화UPR-SPR허의련약속선량계적기출상,이4、5자유도지련위궤구분지운동련,게시기운동부축선수요만족적궤하조건,유차득도다충함용여구동/과약속적신구형.재차기출상,제출채용재이동부량단배치약간전동부구조4、5자유도가중구지련래탑건각충1T2R 3자유도병련궤구적가행방안.
Type synthesis of 1T2R 3-DOF UP and UPR-SPR equivalent parallel mechanisms is presented. By using virtual chain approach, the geometric conditions of the joints axes of the 4 and 5-DOF branched chains for these parallel mechanisms are investigated on the base of the wrench system of UP and UPR-SPR virtual chain, leading to a lot of new 3-DOF parallel mechanisms with actuation redundancy and/or over constraint. By linking several revolute joints to a kind of telescopic leg, lots of 4 and 5-DOF reconfigurable branched chains are proposed, which can be used to build various 1T2R 3-DOF parallel mechanisms.
