摘要
构造了多种包含二平移一转动(2T1R)运动输出的混合链结构,基于有序单开链单元原理,综合出10种新型2T1R型空间并联机器人机构。机构的主动副均直接安装在静平台或接近静平台处,以利于减小机构的运动惯性。分析了各个机构基本特征,如主动副配置、耦合度和运动输入-输出控制解耦性,为机型的优选提供了一定的依据。
A series of hybrid kinematic chains containing 2-transla-tional and 1-rotational (2T1R) kinematic outputs were constructed. Ten new types of 2T1R spatial parallel robot mechanisms were obtained based on the single-opened-chain (SOC) unit theory. All the new mechanisms actuators are directly mounted on the bases or near the bases, which contributes to decrease mechanisms' inertia. The fundamental characteristics of the mechanisms, such as the attribution of the actuators, coupling degree and kinematic decoupling, were analyzed, which provides references for the optimal selection of the mechanisms synthesized here.
出处
《机械传动》
CSCD
北大核心
2009年第1期31-33,37,共4页
Journal of Mechanical Transmission
基金
河南省自然科学基金项目(0211062100)资助
关键词
并联机构
混合链
型综合
耦合度
Parallel mechanism Hybrid kinematic chain Structural synthesis Coupling degree
作者简介
陈美丽（1979-），女，河南周口市人，硕士研究生。
