中国机械工程Issue(18)：2506-2509,2510,5.DOI:10.3969/j.issn.1004-132X.2014.18.017
利用约束螺旋理论综合的空间对称2-DOF并联机构
Synthesis of Spatial Symmetrical 2-DOF Parallel Mechanism with Constraint Screw Theory
摘要
Abstract
The spatial symmetrical parallel mechanisms with 2-DOF were sorted into two classes firstly ,i .e .Type 2Ryz 2-DOF parallel mechanism with two rotations about y-and z-axes in the plane of fixed platform and Type 1Rz1Tz 2-DOF parallel mechanism with one rotation about z-axis and one translation along z-axis .The limb constraint system and the mechanism constraint system of the two kinds of parallel mechanism were enumerated with the geometrical conditions which guaranteed the combined effects of all the limb constraint screws equal to the desired mechanism constraint system . Then ,the type synthesis for the two classes of 2-DOF spatial symmetrical parallel mechanisms were performed systematically with the constraint screw synthesis theory ,and the structure of the mecha-nisms were obtained ,which could continuously realize the required rotations about the two axes in the base or rotation about the normal of the base plane and translation along it .The structures of limbs of the mechanisms as well as their constraint characteristics were gained also .The types of lower-mobili-ty symmetrical parallel mechanism are expanded into 11 from 9 ,and their synthesis methodologies are also provided ;all of these makes the type synthesis perfect .关键词
约束螺旋理论/机构型综合/对称并联机构/两自由度并联机构Key words
constraint screw theory/type synthesis of mechanism/parallel mechanism with sym-metrical structure/2-DOF parallel mechanism分类
信息技术与安全科学引用本文复制引用
刘平安,槐创锋,胡长锋..利用约束螺旋理论综合的空间对称2-DOF并联机构[J].中国机械工程,2014,(18):2506-2509,2510,5.基金项目
国家自然科学基金资助项目（51265011）；江西省科技支撑计划项目（20122BBE500041）；江西省自然科学基金资助项目（20114BAB216003）；江西省教育厅科研项目（GJJ14357）；江西省教育厅科研项目 （）
