| 基于方位特征集的两平移两转动并联机构拓扑结构综合与分类 |
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| 引用本文： | 罗玉峰,姚伟科,石志新,陈超,刘卓,江冬艳.基于方位特征集的两平移两转动并联机构拓扑结构综合与分类[J].机床与液压,2011,39(3). |
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| 作者姓名： | 罗玉峰 姚伟科 石志新 陈超 刘卓 江冬艳 |
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| 作者单位： | 1. 南昌大学机电工程学院,江西南昌,330031;新余高等专科学校,江西新余,338031
2. 南昌大学机电工程学院,江西南昌,330031 |
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| 基金项目： | 国家自然科学基金资助项目(50875261) |
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| 摘 要： | 基于方位特征集(POC)的并联机器人结构综合的一般方法,全面系统地对两平移两转动的并联机器人机构进行了结构综合,先对包含有两平移两转动输出的单开链支路进行综合,然后按单开链支路类型对设计的两平移两转动并联机器人进行分类,得到的机型中包括一些以前设计出的机型和部分新的机型。
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| 关 键 词： | 并联机器人 两平移两转动 结构综合 分类 |
Structural Synthesis and Classification of 2-Translational and 2-Rotation Parallel Manipulator Based on POC Approach |
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| LUO Yufeng,YAO Weike,SHI Zhixin,CHEN Chao,LIU Zhuo,JIANG Dongyan.Structural Synthesis and Classification of 2-Translational and 2-Rotation Parallel Manipulator Based on POC Approach[J].Machine Tool & Hydraulics,2011,39(3). |
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| Authors: | LUO Yufeng YAO Weike SHI Zhixin CHEN Chao LIU Zhuo JIANG Dongyan |
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| Affiliation: | LUO Yufeng1,2,YAO Weike1,SHI Zhixin1,CHEN Chao1,LIU Zhuo1,JIANG Dongyan1(1.School of Mechanical and Electrical Engineering,Nanchang University,Nanchang Jiangxi 330031,China,2.Xinyu College,Xinyu Jiangxi 338031,China) |
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| Abstract: | A systematically approach for structure synthesis of parallel manipulator based on position and orientation characteristic(POC)matrix,by which a detailed application was focused on the synthesis of 2-translation and 2-rotation parallel mechanisms.SOC branches which included 2-translation and 2-rotation output were synthesized,and synthesized parallel mechanisms were classified according to SOC branches types.The result involves not only part known mechanisms,but also some novel mechanisms. |
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| Keywords: | Parallel robot 2-translational and 2-rotation Structural synthesis Classification |
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