| 平面2T1R并联机构无过约束构型设计 |
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| 引用本文： | 黄勇刚,黄茂林.平面2T1R并联机构无过约束构型设计[J].重庆大学学报(自然科学版),2009,32(5):481-487. |
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| 作者姓名： | 黄勇刚 黄茂林 |
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| 作者单位： | 重庆大学,机械工程学院,重庆,400030
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| 摘 要： | 基于螺旋理论和集合论原理,根据动平台所受约束与支链约束之间的关系,分析平面2T1R并联机构无过约束构型条件,得到了6种3支链结构的约束配置方式.根据支链约束要求,采用转动副和移动副设计具体的支链结构,并按不同支链间约束配置方式确定各支链运动副轴线的几何布置,综合出了一类新的完全对称结构和非完全对称结构无过约束平面2T1R并联机构.
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| 关 键 词： | 螺旋 平面2T1R并联机构 无过约束构型 构型设计 |
| 收稿时间： | 2008/12/9 0:00:00 |
Synthesis of planar 2T1R non overconstrained parallel mechanisms |
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| HUANG Yong gang and HUANG Mao lin.Synthesis of planar 2T1R non overconstrained parallel mechanisms[J].Journal of Chongqing University(Natural Science Edition),2009,32(5):481-487. |
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| Authors: | HUANG Yong gang and HUANG Mao lin |
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| Institution: | College of Mechanical Engineering;Chongqing University;Chongqing 400030;P.R.China |
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| Abstract: | Based upon screw theory and set theory,and according to the constraint system between mobile platforms and limbs,the structural conditions of non-overconstrained planar 2T1R parallel mechanisms are proposed.Six types of limb constraint patterns are found.Using R and P pairs,limb structures are built according to the constraint requirements.The geometrical conditions of kinematic pairs between different limbs are obtained based on the limb constraint pattern.Finally,a series of novel symmetrical and asymmetr... |
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| Keywords: | screw planar 2T1R parallel mechanism non-overconstrained structure structure design |
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