Topological Structure Synthesis of 3T1R Parallel Mechanism Based on POC Equations

被引：7

作者：

Yang, Tingli ^{[1
]}

Liu, Anxin ^{[2
]}

Shen, Huiping ^{[1
]}

Hang, Lubin ^{[3
]}

机构：

[1] Changzhou Univ, Changzhou, Peoples R China

[2] PLA Univ Sci & Technol, Nanjing, Jiangsu, Peoples R China

[3] Shanghai Univ Engn Sci, Shanghai, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I | 2016年 / 9834卷

关键词：

Parallel mechanism (PM); Topological structure synthesis; Position and orientation characteristic (POC); Single open chain (SOC); Hybrid single open chain (HSOC);

D O I：

10.1007/978-3-319-43506-0_13

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A systematic method for topological structure synthesis of PM based on POC equations is introduced. The complete synthesis process includes the following several steps: (a) synthesize all candidate SOC and HSOC branches based on the POC equation for serial mechanisms, (b) determine branch combination schemes and geometrical conditions for branches to be assembled on two platforms based on POC equation for PMs, (c) check the obtained PMs for design requirements and obtain all usable PMs. Topological structure synthesis of 3T1R PM which can be used in SCARA robot is discussed in detail to illustrate to procedure of this method. 18 types of 3T1R PMs containing no prismatic pair are obtained.

引用

页码：147 / 161

页数：15

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