| 基于支链驱动理论的解耦球面转动并联机构型综合 |
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| 引用本文： | 张帆,张丹. 基于支链驱动理论的解耦球面转动并联机构型综合[J]. 农业机械学报, 2011, 42(11): 195-199 |
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| 作者姓名： | 张帆 张丹 |
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| 作者单位： | 1. 上海工程技术大学机械工程学院,上海,201620
2. 安大略理工大学工程与应用科学学院,奥沙瓦L1H7K4,加拿大 |
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| 基金项目： | 国家自然科学基金资助项目（50975046）;上海市高校培养优秀青年教师科研专项基金资助项目（gjd09036）;上海仓储物流设备工程技术研究中心资助项目（10dz2250800） |
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| 摘 要： | 针对解耦并联机构与串联机构的运动学相似性,提出一种解耦球面转动并联机构的支链驱动理论,将解耦并联机构分为基本运动支链和驱动支链.在此基础上,推导得到球面转动并联机构运动解耦的拓扑条件,并利用该条件综合得到多种结构新颖的球面转动并联机构.经运动学分析表明:此类机构具有3个独立的转动自由度,且每个自由度仅由单个驱动器控制,实现了球面转动并联机构的运动解耦.
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| 关 键 词： | 并联机构 支链驱动 解耦运动 型综合 |
Structural Synthesis of Decoupled Spherical Parallel Mechanism Based on Driven-chain Principle |
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| Zhang Fan and Zhang Dan. Structural Synthesis of Decoupled Spherical Parallel Mechanism Based on Driven-chain Principle[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(11): 195-199 |
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| Authors: | Zhang Fan and Zhang Dan |
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| Affiliation: | Shanghai University of Engineering Science;University of Ontario Institute of Technology |
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| Abstract: | Focused on the similarity between the kinematics of decoupled parallel mechanism and serial mechanism, a unique method of structural synthesis was presented, which was used to synthesize the decoupled parallel mechanism. The kinematic chains of decoupled parallel mechanism were consisted of by the basic kinematic chain and the driven-chains. The structural condition of decoupled spherical parallel mechanism was deduced, and a series of novel spherical parallel mechanism were synthesized. The kinematics analysis verified that the mechanism had three fully decoupled rotational DOFs, and each rotational DOF was driven by a single actuator. |
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| Keywords: | Parallel mechanism Driven-chain principle Decoupled motion Structural synthesis |
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