Type synthesis of 3-DOF reducible translational mechanisms
Type synthesis of 3-DOF reducible translational mechanisms
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DOI：
10.1017/s0263574704000980
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发表时间：
2005-03
期刊：
影响因子：
2.7
通讯作者：
F. Gao;Yong Zhang;Weimin Li
中科院分区：
文献类型：
--
作者：
F. Gao;Yong Zhang;Weimin Li
运动耦合是并联机器人的典型特征之一。这使得并联机器人的控制变得复杂。因此，运动解耦的并联机构设计是并联机器人领域的一个重要而具有挑战性的问题。然而，在这一领域的研究，包括定义和类型合成理论，都是薄弱或缺乏的。本文研究了具有解耦运动的三自由度平移机构的输入和输出之间的可约相关性，给出了这一主题的定义。提出了三自由度可约平移机构综合的新参数--GF坐标。给出了这类机构的型式综合理论，并综合了几种可约机构。
Motion coupling is one of the typical characters of parallel robots. This makes it complicated to control the parallel robots. Therefore, the design of parallel mechanisms with decoupled motions is an important and challenging issue in the parallel robotic field. However, research in this field, including the definition and type synthesis theory, is weak or lacking. In this paper, the reducible correlation between the input and the output of 3-DOF translational mechanisms with decoupled motions is investigated and the definition of this topic is presented. A new parameter named Gf coordinate is propsed for the synthesis of 3-DOF reducible translational mechanisms. The type synthesis theory for this kind of mechanisms is obtained and some reducible mechanisms are synthesized.