| 对称三自由度并联机器人拓扑结构型综合与分类 |
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| 引用本文： | 陈红亮,罗玉峰,杨廷力.对称三自由度并联机器人拓扑结构型综合与分类[J].农业机械学报,2008,39(1):138-141. |
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| 作者姓名： | 陈红亮 罗玉峰 杨廷力 |
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| 作者单位： | 1. 南昌大学机电工程学院,330031,南昌市
2. 中国石油化工集团金陵石油化工公司,210037,南京市 |
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| 摘 要： | 以单开链支路为单元,揭示了对称少自由度并联机器人组成的规律,提出了输出运动为3自由度并联机器人的型综合方法.型综合共得到5种对称的三维平移3自由度的并联机器人和6种对称的三维转动3自由度的并联机器人.
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| 关 键 词： | 并联机器人 单开链 型综合 |
| 收稿时间： | 2006-12-01 |
| 修稿时间： | 2006年12月1日 |
Structure Design Sort of Parallel Robot Mechanism with Symmetric 3-DOF |
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| Chen Hongliang,Luo Yufeng,Yang Tingli.Structure Design Sort of Parallel Robot Mechanism with Symmetric 3-DOF[J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(1):138-141. |
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| Authors: | Chen Hongliang Luo Yufeng Yang Tingli |
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| Institution: | 1.Nanchang University 2.Jinling Petrochemical Corporation of China |
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| Abstract: | Based on the single-opened-chain(SOC)theory and method for structure design,structure design of parallel mechanism with symmetric 3-DOF was discussed.Some rules of symmetrical minor-mobility mechanism is disclosed.It is an effective method for presenting a structure synthesis approach for forming a 3-DOF parallel manipulator.As examples,5 kinds of 3T and 6 kinds of 3R parallel mechanisms are designed with this method.These mechanisms are topologically symmetric.These mechanisms are deliberately classified according to their topologically characteristics. |
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| Keywords: | Parallel robot Single-opened-chain Structure synthesis |
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