完全各向同性解耦3T1R型并联机器人构型综合

为综合得到完全各向同性解耦并联机器人构型,基于GF集理论提出了一种简单而有效的构型综合方法.阐述GF集的基本概念、运算法则,转动特征存在条件;给出机构输入运动副选择原则和分支设计准则,确保了并联机构运动各向同性及解耦性;根据该构型综合原理,实现了3T1R的4自由度完全各向同性解耦并联机构型综合,得到了大量新构型;针对所综合的一种新型并联机构,运用螺旋理论求解其机构的自由度并推导其雅克比矩阵,验证了该机构的完全各向同性,也进一步证明了该构型综合方法的有效性.

Type Synthesis of Fully Isotropic and Decoupled 3T1R Parallel Mechanism

Abstract： In order to obtain fully isotropic and decoupled structures of the parallel robot, a very simple yet very effective structural design was proposed based on GF set. First, the basic concept of GF set, algorithms and the type synthesis principle, requirements for rotation based on GF set were introduced. Next, the selection criterion of the input pair and type synthesis principle of decoupled branches were given, which ensured that the input of various branches were isotropic and the decoupled. According to the type synthesis theory, the specific process for structural synthesis of 3T1R four degrees of freedom fully isotropic and decoupled parallel mechanism were accomplished. Simultaneously, a lot of new mechanisms were obtained. Finally, the screw theory was applied to analyze the kinematic characteristic of the parallel mechanism synthesized above. The expression of the Jacobian matrix was deduced which validated the fully isotropic of the mechanism and demonstrated the effectiveness of the novel method of structural synthesis for parallel mechanisms.