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基于支鏈驅(qū)動理論的解耦球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu)型綜合
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國家自然科學(xué)基金資助項(xiàng)目（50975046）;上海市高校培養(yǎng)優(yōu)秀青年教師科研專項(xiàng)基金資助項(xiàng)目（gjd09036）;上海倉儲物流設(shè)備工程技術(shù)研究中心資助項(xiàng)目（10dz2250800）


Structural Synthesis of Decoupled Spherical Parallel Mechanism Based on Driven-chain Principle
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    摘要:

    針對解耦并聯(lián)機(jī)構(gòu)與串聯(lián)機(jī)構(gòu)的運(yùn)動學(xué)相似性,，提出一種解耦球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu)的支鏈驅(qū)動理論，將解耦并聯(lián)機(jī)構(gòu)分為基本運(yùn)動支鏈和驅(qū)動支鏈,。在此基礎(chǔ)上,，推導(dǎo)得到球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu)運(yùn)動解耦的拓?fù)錀l件,，并利用該條件綜合得到多種結(jié)構(gòu)新穎的球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu),。經(jīng)運(yùn)動學(xué)分析表明：此類機(jī)構(gòu)具有3個(gè)獨(dú)立的轉(zhuǎn)動自由度,，且每個(gè)自由度僅由單個(gè)驅(qū)動器控制,，實(shí)現(xiàn)了球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu)的運(yùn)動解耦,。

    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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張帆,張丹.基于支鏈驅(qū)動理論的解耦球面轉(zhuǎn)動并聯(lián)機(jī)構(gòu)型綜合[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(11):195-199. Zhang Fan, 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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