基于单开链单元的欠秩并联机器人机构型综合的一般方法

摘要

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。提出了欠秩并联机器人机构型综合的一种系统、有效的新方法，并进行了分类。该方法具有普遍性意义，已用于完成三平移、三平移一转动以及三平移两转动等欠秩并联机器人机构的型综合。%Based on the units of single-opened-chain limb, some structural laws of degenerate-rank parallel robot mechanisms are revealed, and a systematic and effective new method for structural synthesis of parallel robot mechanisms is put forward in this paper. The method proposed in this paper is of universal significance and has been used for the structural synthesis of some types of degenerate-rank parallel robot mechanisms, such as 3-DOF, 4-DOF, and 5-DOF mechanisms.