机械科学与技术2017，Vol.36Issue(5)：679-684,6.DOI:10.13433/j.cnki.1003-8728.2017.0504
并联机构的螺旋理论坐标简化方法
Coordinates-reduction Method of Parallel Mechanism based on Screw Theory
摘要
Abstract
When solving the parallel mechanisms based on screw theory,the kinematic screws are usually expressed with six coordinates.However,for some parallel mechanisms,all the kinematic screws have the same constant zero coordinates.When solving these special parallel mechanisms,the same constant zero coordinates can be removed to reduce the coordinates.Using the reduced coordinates expressing kinematic joints to solve the parallel mechanisms is equivalent to lowering the dimensions of the problem,thus simplifying the solving procedure.The special axis configuration of revolute joints and the special moving direction of prismatic joints can make some coordinates of the kinematic screws,which denote these kinematic joints be constant zero.The kinematic joints are categorized based on different counts and order of constant zero coordinates of the kinematic screws.Single open chains are formed by these types of kinematic joints and then all 3-DOF parallel mechanisms which can be reduced to three coordinates are synthesized.The reduced coordinates which denotes the kinematic screws of the parallel mechanisms and the formula of reciprocal screws based on the reduced coordinates are presented.Some sketches of the parallel mechanisms are also proposed.Solving these parallel mechanisms based on the reduced coordinates can efficiently simplify the analyzing procedure and decrease the difficulty of solving.关键词
螺旋理论/并联机构/运动副/坐标简化Key words
screw theory/parallel mechanism/kinematic joints/coordinates reduction分类
机械制造引用本文复制引用
周一群,牛军川..并联机构的螺旋理论坐标简化方法[J].机械科学与技术,2017,36(5):679-684,6.基金项目
国家自然科学基金项目(51275275,51675306)、汽车仿真与控制国家重点实验室开放基金项目(20161112)及山东省优秀中青年科学家科研奖励基金项目(BS2010ZZ006)资助 （51275275,51675306）
