摘要
应用李群和李代数理论对3自由度并联移动机构型综合进行了系统的分析,给出了表示位移子群T和X(w)的李子代数的运动螺旋系,然后对运动螺旋系中的旋量进行线性组合,得到了可以生成位移子群X(w)的几种分支运动链,再根据多个位移子群X(w)的交集为位移子群T的几何条件,最后综合出数种3自由度移动并联机构,从李群和李代数理论验证了以前以结构约束法得到的型综合结果。
Based on the Lie group and Lie algebra theory, type synthesis for 3-DOF translational parallel mechanisms is investigated systematically. Twist systems representing the subalge-bra of displacement subgroup of T and X(w) are proposed. Several limb kinematic chains which can produce the displacement subgroup of X(w) are obtained through linear combination of the twists. According to the geometrical condition that guarantees the intersection of several displacement subgroups of X(w) is the displacement subgroup of T, several novel 3-DOF translational parallel mechanisms are constructed, which testifies the results of type synthesis obtained before by structural constraint method.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第6期18-21,共4页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(50075074)
