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以单开链支路为单元 ,揭示了欠秩并联机器人机构结构组成的某些规律。提出了输出运动为三平移及一定向转移的并联机器人机构型综合的一种系统、有效的新方法。型综合共得到 5 0个新机构 ,并进行了分类。提出的 4d.o.f.并联机器人机械综合方法具有普遍性意义 ,并已用于其它运动输出类型的欠秩并联机器人机构的型综合。
Taking the single open-chain branch as a unit, some rules of mechanism composition of under-rank parallel robot are revealed. A systematic and effective new method of mechanism type synthesis of parallel robot whose output movement is three-shift and one-direction shift is proposed. A total of 50 new agencies have been classified and classified. The proposed 4d.o.f. parallel robot mechanical synthesis method is of universal significance and has been used for the type synthesis of under rank parallel robot mechanisms of other motion output types.