机械科学与技术2011，Vol.30Issue(8)：1243-1247,5.
基于螺旋理论的新型6杆并联机构的自由度分析
Analysis of the Degree-of-freedom of a Novel Six-link Parallel Mechanism Based on Screw Theory
摘要
Abstract
The degree of screws. This mechanism freedom of a novel six-link spatial consists of universal joints, and is perpendicular to the motion plane. Based on the reciprocal parallel mechanism was analyzed based on the theory of designed for improving the stiffness along the direction relationship between motion screw and force screw and using equivalent transformation, the degree of freedom of this mechanism was calculated. The result shows that it can accomplish 2-DOF translational motion. This method avoids the determination of common constraints, redun- dant constraints and passive degree of freedom in using the Kutzbach-Grubler formula. This method is not only easy to use, but also applicable to other parallel mechanisms.关键词
并联机构/自由度/平动/刚度Key words
parallel mechanism/degree of freedom/translation/stiffness分类
信息技术与安全科学引用本文复制引用
陈小岗,孙宇,彭斌彬,曾梁彬,刘远伟..基于螺旋理论的新型6杆并联机构的自由度分析[J].机械科学与技术,2011,30(8):1243-1247,5.基金项目
江苏省数字化制造技术重点实验室项目（HGDML-0707）资助 （）
