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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。提出了三平移输出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 3 1个机构 ,并进行了分类。其中 2 7个机构为本文首次给出。提出的三平移并联机器人机构型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 three parallel manipulators with parallel output is put forward. A total of 31 agencies were classified and classified. Two of the 27 agencies were given for the first time. The proposed three-translational parallel robot mechanism-based synthesis method is of universal significance and has been used for type synthesis of under-rank parallel robot mechanisms of other motion output types