基于3-PRRR并联机构的3T对称耦合机构的构型综合

摘要

基于3T的3-PRRR对称并联机构,应用添加支链法,综合出了2类含一级节点的3T对称耦合模型.首先以3-PRRR对称并联机构为基础,通过添加耦合链,构建出3类含一级节点耦合机构的基本模型;然后选取其中一种模型按照耦合链的不同形式分别设计了2类对称耦合机构;最后运用运动分流标记法以含耦合链的单链为研究对象,分析耦合分支的运动形式,表明这2类耦合机构符合设计要求,可为对称耦合机构的构型综合设计提供理论依据.%Based on a 3-PRRR symmetric parallel mechanism,3T symmetrical coupling models with the primary node are summed up as two types by the method of adding chains.Firstly,three basic models of the coupled mechanism are built by adding coupled chains,based on the 3-PRRR symmetric parallel-mechanism.Then,one of the basic models is selected and designed for two kinds of the symmetric coupling mechanisms according to the different coupling chains.Finally,a single coupled chain is taken as object of study to analyze its motion mode.The result shows that the two kinds of mechanisms meet th design requirement.A certain theoretical basis is provided for type synthesis of the symmetric coupling mechanisms by used of this method.