基于螺旋理论的两转一移解耦并联机构型综合

强耦合性是并联机构的一个显著特点,如果能使并联机构的运动部分解耦或者完全解耦,将使并联机构的理论分析、实际应用等方面变得容易。为此,本文基于螺旋理论、机构运动螺旋系与分支运动螺旋系之间的关系,提出了移动解耦分支型综合准则和转动解耦分支型综合准则,确定了并联机构转动条件及输入运动副选择原则,形成了两转一移解耦并联机构型综合方法,并以此对两转一移解耦并联机构进行了综合并得到了许多新型机构,从而验证了该方法的正确性和可行性。

Type synthesis of 2R1T decoupled parallel mechanism based on screw theory

The strong coupling is a prominent characteristic of parallel mechanism. If the motion of the mechanism can be partly or fully decoupled, it will be easier to carry out the theoretical analysis of the mechanism＇s design, the control and application of the system etc. The type synthesis methods of translational and rotational motion decoupled parallel mechanism are proposed based on the screw theory and the relationship between the branches＇ and mechanism＇s screw system. The RC （rotational condition） and the selection criterion of the input pair are confirmed. The type synthesis method of 2 rotations and 1 translation （2R1T） decoupled parallel mechanism method is presented. Many 2R1T decoupled mechanisms are synthesized using above method. It is proved that proposed method is a feasible for type synthesis of translational and rotational motion decoupled parallel mechanism.