基于混合链的弱耦合三维平移并联机构型综合

提出了混合单开链的设计原理、构造原则及一般设计步骤,设计构造了运动输出包含三维平移的多种实用混合链结构;系统地给出了一种程式化的基于混合链的弱耦合三维平移并联机器人机构型综合过程;得到了8个弱耦合三维平移并联机构原创型基本机型,通过改变主动副类型、运动副位置或支链的局部结构等又可得到众多衍生机型;又按照拓扑结构稳定性与对称性、运动学与动力学问题复杂性、运动输入一输出控制解耦性和加工制造装配性四种指标,对这8个三维平移基本机型进行了定性分类及推荐。

KINEMATIC STRUCTURAL SYNTHESIS OF 3-TRANSLATIONAL WEAKLY-COUPLED PARALLEL MECHANISMS BASED ON HYBRID CHAINS

A systematic methodology for synthesizing kinematic structures of 3-DOF weakly-coupled translational parallel mechanisms is presented, which considerates hybrid chain as the "limps" connecting the moving platform with the base .The design procedures for hybrid chains are also explored. Moveover, eight promising 3-DOF translational parallel kinematic structures with lower coupling degree between independent loops are presented originally .The much more alternatives to these kinematic structures also could be obtained by altering the location and the type of the driving joints within loops or by changing some partial sub-structures .The classification of these parallel kinematic structures is identified according to the four structure evaluation criteria suggested here by the authors ,i.e. structure topological symmetry, coupling degree value between independent loops, input-output motion decoupling degree and manufacturability.