Type Synthesis of Three-Degree-of-Freedom Spherical Parallel Manipulators
Type Synthesis of Three-Degree-of-Freedom Spherical Parallel Manipulators
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DOI：
10.1177/0278364904041562
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发表时间：
2004-03
期刊：
影响因子：
--
通讯作者：
X. Kong;C. Gosselin
中科院分区：
文献类型：
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作者：
X. Kong;C. Gosselin
球形并联机械手（也称为定向并联机械手或旋转并联机械手）是指运动平台进行3自由度球面运动或绕固定点旋转的三自由度（3-DoF）并联机械手。在本文中，我们提出了一种非过约束（等静压）球形并联机械臂类型综合的新方法。在非过约束三腿球形并联机械手中，每条腿由五个旋转关节、棱柱关节和/或螺旋关节组成。使用所提出的方法，通过将 3-RRR 过约束球形并联机械手与三个具有至少一个旋转关节的四杆 Delassus 连杆相结合，可以获得非过约束三足球形并联机械手。在3-RRR球面并联机械臂中，每条腿由三个旋转关节组成，其轴通过球面运动中心。四杆 Delassus 连杆机构是由四个旋转、棱柱和/或螺旋关节组成的单自由度四杆连杆机构。还确定了许多新型非过约束球形并联机械臂，其中包括由 3-RRR 球形并联机械臂和三个 Bennett 连杆组合而成的机械臂。
A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegreeof-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel manipulators. In a non-overconstrained three-legged spherical parallel manipulator, each leg is composed of five revolute, prismatic and/or helical joints. Using the proposed approach, non-overconstrained three-legged spherical parallel manipulators can be obtained by the combination of a 3-RRR overconstrained spherical parallel manipulator and three four-bar Delassus linkages with at least one revolute joint. In a 3-RRR spherical parallel manipulator, each leg is composed of three revolute joints whose axes pass through the center of spherical motion. A four-bar Delassus linkage is a single-DoF four-bar linkage composed of four revolute, prismatic and/or helical joints. A number of new non-overconstrained spherical parallel manipulators are also identified, including one obtained by the combination of a 3-RRR spherical parallel manipulator and three Bennett linkages.