Geometric synthesis of spatial parallel manipulators with fewer than six degrees of freedom
Geometric synthesis of spatial parallel manipulators with fewer than six degrees of freedom
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DOI：
10.1243/095440602321029418
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发表时间：
2002-12
期刊：
影响因子：
--
通讯作者：
T. Zhao;J. Dai;Z. Huang
中科院分区：
文献类型：
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作者：
T. Zhao;J. Dai;Z. Huang
摘要六自由度以下的机械臂满足特定的任务，具有降低结构复杂性、设计冗余度和成本等优点。为了构造满足给定任务的并联机器人，提出了一种基于螺旋理论的六自由度以下空间并联机构类型综合的代数方法。通过描述约束螺杆、识别与约束螺杆相互作用的基本运动副、将基本运动副螺杆线性变换为等价的串联臂和分配串联臂，可以构造出新的并联机构。这种方法将机构设计转化为螺旋代数运算，其中螺旋描述了连杆之间的运动学对和约束。作为例子，给出了四自由度并联机构的综合步骤，并由此产生了五种新型的并联机构。
Abstract Manipulators with fewer than six degrees of freedom meet specific tasks and have the advantage of reducing structural complexity, design redundancy and cost. In order to construct parallel manipulators for given tasks, this paper develops an algebraic approach to type synthesis of spatial parallel mechanisms with fewer than six degrees of freedom based on the screw theory. With the proposed steps (i.e. describing restraining screws, identifying basic kinematic pair (KP) screws reciprocal to the restraining screws, linearly transforming the basic KP screws to obtain equivalent serial limbs and allocating the serial limbs) new parallel mechanisms can be constructed. The approach converts a mechanism design into a screw algebra operation, in which screws describe kinematic pairs and constraints between links. As examples, synthesis procedures of parallel mechanisms with four degrees of freedom are given, from which five novel parallel mechanisms result.