华中科技大学学报（自然科学版）2025，Vol.53Issue(6)：102-110,9.DOI:10.13245/j.hust.250614
可增加转轴的变胞并联机构型综合
Type synthesis of metamorphic parallel mechanism with added rotary shaft
摘要
Abstract
First,the concepts of source configuration and sub-configuration were defined according to the varying relationships between configurations in different states of metamorphic mechanisms.Then,geometric algebra was introduced into the type synthesis of metamorphic parallel mechanisms,spatial relationship between source configuration and sub-configuration were illustrated,and mathematical expressions that satisfied the metamorphic conditions were provided.Subsequently,the motion subspace of sub-configuration branch that satisfied the metamorphosis condition was screened out,and metamorphic methods from the source configuration branch to the sub-configuration branch were designed.As a result,type synthesis theory of metamorphic parallel mechanisms under the geometric algebra framework was proposed.Type synthesis was conducted for a class of metamorphic parallel mechanisms with an added rotary shaft based on the proposed type synthesis theory.Finally,the degree of freedom of the synthesized metamorphic parallel mechanism was analyzed based on the method of geometric algebra for motion intersection,and the effectiveness and correctness of the theory were validated.关键词
变胞机构/并联机构/几何代数/型综合/构态Key words
metamorphic mechanisms/parallel mechanisms/geometric algebra/type synthesis/configuration分类
机械制造引用本文复制引用
曹毅,王凯,叶凡,吕贤海..可增加转轴的变胞并联机构型综合[J].华中科技大学学报（自然科学版）,2025,53(6):102-110,9.基金项目
江苏省"六大人才高峰"计划资助项目(ZBZZ-012) （ZBZZ-012）
高等学校学科创新引智计划资助项目(B18027). （B18027）
