| 变自由度4-~xP~xR~xR~xR~yR_N并联机构 |
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| 引用本文： | 李秦川,陈巧红,武传宇,胡旭东.变自由度4-~xP~xR~xR~xR~yR_N并联机构[J].机械工程学报,2009,45(1). |
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| 作者姓名： | 李秦川 陈巧红 武传宇 胡旭东 |
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| 作者单位： | 浙江理工大学浙江省现代纺织装备技术重点实验室,杭州,310018 |
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| 摘 要： | 提出一种变自由度4-xPxRxRxRyRN并联机构,该机构中与动平台4边相连的4个转动副两两相对且轴线重合(记为u轴和v轴).运用螺旋理论对机构的自由度进行分析和驱动副选取.初始位形下,4-xPxRxRxRyRN并联机构的动平台平行于定平台,此时动平台具有3个连续的移动自由度和两个瞬时转动自由度,其转轴可为平行于定平台的任何两条直线.动平台仅可绕u轴或v轴从初始位形下发生连续转动,此时动平台具有3个连续的移动自由度和1个连续转动自由度,转轴为u轴或v轴,且这两个转动自由度互斥,即如动平台先绕u轴发生连续转动后,就不能绕v轴发生连续转动,必须待动平台再次平行于定平台时才能切换,反之亦然.为实现自由度切换的完全可控,4-xPxRxRxRyRN并联机构需采用5个驱动器进行冗余驱动.
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| 关 键 词： | 并联机构 螺旋理论 自由度 |
4-~xP~xR~xR~xR~yR_N Parallel Mechanism with Variable Mobility |
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| LI Qinchuan,CHEN Qiaohong,WU Chuanyu,HU Xudong.4-~xP~xR~xR~xR~yR_N Parallel Mechanism with Variable Mobility[J].Chinese Journal of Mechanical Engineering,2009,45(1). |
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| Authors: | LI Qinchuan CHEN Qiaohong WU Chuanyu HU Xudong |
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| Affiliation: | Provincial Key Laboratory of Modem Textile Machinery;Zhejiang Sei-Teeh University;Hangzhou 310018 |
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| Abstract: | A 4-~xP~x~R~x~R~xR~yR_N parallel mechanism with variable mobility is proposed.The four revolute pairs linked to the moving platform are set symmetrically with two groups of collinear axes (denoted by u and v axis).Mobility analysis and actuation selection are performed by using screw theory.In the initial configuration,the moving platform of the 4-~xP~xR~xR~xR~yR_N parallel mechanism is parallel to the base and the moving platform has three finite translational DOFs and two instantaneous rotational DOFs wit... |
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| Keywords: | Parallel mechanism Screw theory Mobility |
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