农业机械学报2026，Vol.57Issue(12)：414-426,13.DOI:10.6041/j.issn.1000-1298.2026.12.039
具有部分解耦运动特性的空间移动并联机构型综合
Type Synthesis of Spatial Translational Parallel Mechanisms with Partially Decoupled Kinematic Characteristics
摘要
Abstract
The load-bearing capacity of a mechanism is closely related to its kinematic coupling,yet existing type synthesis methods seldom take both the kinematic coupling characteristics and the load-bearing capacity into account.The spatial geometric relationship between partially decoupled motion characteristics and the actuation wrench based on the actuation wrench matrix was established,and then a type synthesis method for translational parallel mechanisms with partially decoupled motion characteristics was proposed.Firstly,based on the actuation wrench theory,the coupling equation of the mechanism was established.Secondly,according to the kinematic characteristics of the translational parallel mechanism and the degree of connection of a branch,the basic branch with spatial translational was synthesized,and the branch types producing different actuation wrenches were given.Once again,the required force line vectors for the moving platform were decomposed into several force line vectors,and the required actuation wrench matrix was obtained by resynthesizing the force line vectors.Then,according to the type of branch producing different actuation wrenches,the branches conforming to the actuation wrench matrix were synthesized,and the spatial translational parallel mechanisms with partially decoupled motion characteristics were assembled.Finally,the correctness of the proposed method was verified through the analysis of degrees of freedom and mechanisms'kinematics.The research results can provide a basis for designing parallel mechanisms with different capacities.关键词
空间移动并联机构/部分解耦/型综合/驱动力螺旋Key words
spatial translational parallel mechanisms/partially decoupled characteristics/type synthesis/actuation wrench screw分类
机械制造引用本文复制引用
宋黎明,张彦斌,赵俊超,庞乾辰..具有部分解耦运动特性的空间移动并联机构型综合[J].农业机械学报,2026,57(12):414-426,13.基金项目
河南省科技发展计划项目(232102220044、232102220069) （232102220044、232102220069）
