五自由度混联机构型综合的研究

提出了一种系统有效的混联机器人构型综合的新方法和单并联、多并联混联机构的概念及表示方法。根据螺旋理论构造了单开链五自由度串联机构;基于自由度分配原理,分析了可能出现的五自由度混联机构具体类型;将并联机构视为一个复合运动单元构型到串联机构中,替代串联机构中运动基相同且连续的若干运动单元,获得五自由度混联机器人构型;通过运动螺旋的线性组合来生成其他混联机构,并通过实例验证了该构型的正确性。分析表明该机构兼具串联机构和并联机构的优点。

Research on Structure Synthesis of Five Degrees of Freedoms Hybrid Mechanisms

A systematic and effective type synthesis method was proposed for five degrees of freedom (DoF) hybrid mechanisms based on the linear dependency of screws and units of the lower -mobility SKM with single-opened-chain limb, including the definition and symbol denotation method of both hybrid robot with a parallel mechanism and multi -parallel mechanisms .Type synthesis of 5-DoF SKMs with single-opened-chain was classified based on the screw theory .Based on the principle of freedom of assignment , the type syn-thesis of hybrid mechanisms were accomplished by regarding PKM as a complex kinematic unit and replacing an equal DoF kinemtic chain limb in lower-mobility SKM with single-opened-chain limb.Other type synthesizes of hybrid mechanisms were generated by the linear combination of the twist and the correctness of the configuration was verified by an example .This kind of mechanisms has the ad-vantages of series mechanisms and parallel mechanisms , and has certain application prospect .