| 解耦球面转动并联机构的运动分析与验证 |
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| 引用本文： | 徐正好,张帆,刘燕.解耦球面转动并联机构的运动分析与验证[J].机械设计,2009,26(8). |
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| 作者姓名： | 徐正好 张帆 刘燕 |
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| 作者单位： | 上海工程技术大学,工程实训中心,上海,201620 |
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| 摘 要： | 详细分析了一种解耦球面转动并联机构的运动特性,利用速度关系证明该机构具有3个完全解耦的转动自由度,并具有工作空间大、刚度均匀一致、误差分布全局各向同性的优点.针对机构约束冗余的不足,进一步提出了避免过约束的改进机型.
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| 关 键 词： | 并联机构 运动解耦 球面转动 螺旋理论 |
Kinematic analysis and verification on the decoupled spherical rotating parallel mechanism |
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| XU Zheng-hao,ZHANG Fan,LIU Yan.Kinematic analysis and verification on the decoupled spherical rotating parallel mechanism[J].Journal of Machine Design,2009,26(8). |
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| Authors: | XU Zheng-hao ZHANG Fan LIU Yan |
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| Affiliation: | Engineering Training Center;Shanghai University of Engineering Science;Shanghai 201620;China |
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| Abstract: | The kinematic characteristics of a kind of decoupled spherical revolving parallel mechanism were analyzed in detail.Utilizing the speed relationship it has been testified that this mechanism has three complete decoupled rotational DOF,and possesses advantages of large working space,uniform and identical stiffness and the error distribution is overall isotropy.Aimed at the deficiency of redundancy of mechanism constraint,an improved model that avoided the over constraint has been further put forward. |
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| Keywords: | parallel mechanism kinematic decoupling spherical rotation screw theory |
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