Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators
Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators
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DOI：
10.1115/1.1758253
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发表时间：
2004-07
影响因子：
3.3
通讯作者：
Qiong Jin;Tingli Yang
中科院分区：
文献类型：
--
作者：
Qiong Jin;Tingli Yang
建立了一套系统的并联机器人拓扑综合理论，该理论考虑了并联机器人的运动学、动力学、控制和驱动等基本要求。该理论的核心部分是新的自由度公式、并联机器人输出特征方程和具有拓扑特征的单开链单元的正确应用。给出了一种可行的并联机器人综合方法，并将其应用于三维平移并联机器人的综合。综合结果不仅包含了大多数已知机构，而且包含了一些性能优良的新型机构，如简单的正/逆运动学和输入输出参数的解耦，特别有利于这些结构的控制。
A systematic theory for topology synthesis of parallel manipulators considering basic requirements such as kinematics, dynamics, control, and actuation is built. The kernel part of the theory is its proper application of a new mobility formula, output character equation of parallel manipulators, and units for single-opened-chains that have topological features. A feasible methodology for synthesizing parallel manipulators is also given, by which a detailed application is focused on the synthesis of three-dimension-translation parallel manipulators. The result synthesized encompasses not only most known mechanisms, but also some novel mechanisms with fine performances, such as simple forward/ inverse kinematics and decoupling of input-output parameters that especially benefit control of theses structures.