| 含有闭回路结构的二平移一转动并联机器人机构型综合 |
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| 引用本文： | 陈美丽,吴鑫,张彦斌.含有闭回路结构的二平移一转动并联机器人机构型综合[J].机械传动,2009,33(1). |
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| 作者姓名： | 陈美丽 吴鑫 张彦斌 |
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| 作者单位： | 1. 河南科技大学,机电工程学院,河南,洛阳,471003
2. 河南科技大学,建筑工程学院,河南,洛阳,471003 |
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| 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.
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| 关 键 词： | 并联机构 混合链 型综合 耦合度 |
Structural Synthesis of 2T1R-Type Parallel Robot Mechanisms containing closed loop |
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| Chen Meili,Wu Xin,Zhang Yanbin.Structural Synthesis of 2T1R-Type Parallel Robot Mechanisms containing closed loop[J].Journal of Mechanical Transmission,2009,33(1). |
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| Authors: | Chen Meili Wu Xin Zhang Yanbin |
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| Abstract: | 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 decoup... |
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| Keywords: | Parallel mechanism Hybrid kinematic chain Structural synthesis Coupling degree |
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