中国机械工程Issue(24)：3282-3288,7.DOI:10.3969/j.issn.1004-132X.2015.24.003
基于螺旋理论的3T1R 完全解耦并联机构型综合
Type Synthesis of Fully-decoupled 3T1R Parallel Mechanism Based on Screw Theory
摘要
Abstract
Based on the screw theory and the driven-chain principle ,a method of structural syn-thesis for fully-decoupled three-translational and one-rotational (3T1R) parallel mechanisms was pro-posed .Firstly ,according to the desired characteristics of the parallel mechanism (moving along X , Y ,Z axis and rotating about Z axis ,respectively) and requirements ,the direct and the inverse Jacobi-an matrices had to be diagonal ,the desired forms for the direct and the inverse Jacobian matrices were constructed .Secondly ,according to the features of the direct and the inverse Jacobian matrices ,the effective screws ,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and the structural synthesis of each kinematic chain for fully-de-coupled 3T1R parallel robotic manipulators was performed in the light of different connectivity of the limbs .Finally ,the parallel mechanism was obtained by the connection of 4 chains with the moving platform and the fixed base in terms of the parallel mechanism kinematic principles .The output of the synthesized parallel mechanism was provided by the independent input-driven of each chain and the di-rect Jacobian matrices maintained diagonal during the moving process .The parallel mechanism is fully-decoupled ,which can be controlled with ease and has a certain application prospect .关键词
完全解耦/并联机构/型综合/螺旋理论Key words
fully-decoupled/parallel mechanism/type synthesis/screw theory分类
机械制造引用本文复制引用
陈海,秦友蕾,曹毅..基于螺旋理论的3T1R 完全解耦并联机构型综合[J].中国机械工程,2015,(24):3282-3288,7.基金项目
国家自然科学基金资助项目（50905075）；江苏省普通高校学术学位研究生科研创新计划资助项目（KYLX-1115）；机械系统与振动国家重点实验室开放课题 （）
