北京交通大学学报2011，Vol.35Issue(4)：134-137,4.
一种新型四自由度并联机构设计与分析
Structure synthesis and analysis of a novel four-degree-of-freedom parallel manipulator
摘要
Abstract
According to the principle of scaling ruler, 6-DOF (degree of freedom) and 4-DOF rhombus kinematic chains with a large pantograph ratio have been constructed to form the parallel manipulator,and based on this, a novel 4-DoF parallel manipulator with a compact structure and a large workspace is proposed. Based on the equivalent substitution principle, an equivalent model of 4-DoF parallel manipulator can be designed by the way of replacing virtual axis of rhombus mechanism with the real axis of serial kinematic chains. In addition, screw theory was used to analyze the DOF. In the analysis of the kinematic screw system and reciprocal screw system of constraints in the equivalent model of parallel manipulator, two translational DOF and two rotational DOF can be confirmed in the parallel moving platform.关键词
并联机构/四自由度/放大尺/菱形机构Key words
parallel manipulator/4-DOF/scaling ruler/ rhombus mechanism分类
机械制造引用本文复制引用
房海蓉,陈江红..一种新型四自由度并联机构设计与分析[J].北京交通大学学报,2011,35(4):134-137,4.基金项目
国家自然科学基金资助项目(50675016) （50675016）
