Type synthesis of 3-DOF reducible translational mechanisms

被引：36
|
作者：
Gao, F [1 ]
Zhang, Y
Li, WM
机构：
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200030, Peoples R China
[2] YanShan Univ, Sch Mech Engn, Qingdao 066004, Peoples R China
来源：
ROBOTICA | 2005年 / 23卷
关键词：
reducible mechanism; type synthesis; Gf coordinate;
D O I：
10.1017/S0263574704000980
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 G(f), 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.
引用
收藏
页码：239 / 245
页数：7
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