Displacement manifold method for type synthesis of lower-mobility parallel mechanisms
Displacement manifold method for type synthesis of lower-mobility parallel mechanisms
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DOI：
10.1360/03ye0352
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发表时间：
2004-11
期刊：
影响因子：
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通讯作者：
Qinchuan Li;Zhen Huang;J. M. Hervé
中科院分区：
文献类型：
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作者：
Qinchuan Li;Zhen Huang;J. M. Hervé
低自由度并联机构的型式综合是国际学术界和工业界研究的热点和前沿课题。基于李群理论，提出了一种位移流形综合方法。对于所有九种低自由度并联机构，列举了机构位移流形、肢体位移流形以及保证肢体位移流形的交点是期望的机构位移流形的几何条件。利用位移子群的乘积闭包可以得到各种肢体运动链。在满足几何条件的情况下，用这些支臂可以构成并联机构。因此，利用该方法可以综合出所有九种低自由度并联机构。由于位移流形处理的是有限运动，因此合成的结果机构具有全周期运动。利用该方法可以得到新颖的低自由度并联机构结构。
Type synthesis of lower-mobility parallel mechanisms is a hot and frontier topic in international academic and industrial field. Based on the Lie group theory, a displacement manifold synthesis method is proposed. For all the nine kinds of lower-mobility parallel mechanisms, the mechanism displacement manifold, limb displacement manifold and the geometrical conditions which guarantee that the intersection of the limb displacement manifold is the desired mechanism displacement manifold are enumerated. Various limb kinematic chains can be obtained using the product closure of displacement subgroup. Parallel mechanisms can be constructed with these limbs while obeying the geometrical conditions. Hence, all the nine kinds of lower-mobility parallel mechanisms can be synthesized using this method. Since displacement manifold deals with finite motion, the result mechanism of synthesis have full-cycle mobility. Novel architectures of lower-mobility parallel mechanisms can be obtained using this method.