基于支链驱动理论的解耦球面转动并联机构型综合

摘要

针对解耦并联机构与串联机构的运动学相似性,提出一种解耦球面转动并联机构的支链驱动理论,将解耦并联机构分为基本运动支链和驱动支链.在此基础上,推导得到球面转动并联机构运动解耦的拓扑条件,并利用该条件综合得到多种结构新颖的球面转动并联机构.经运动学分析表明:此类机构具有3个独立的转动自由度,且每个自由度仅由单个驱动器控制,实现了球面转动并联机构的运动解耦.%Focused on the similarity between the kinematics of decoupled parallel mechanism and serial mechanism, a unique method of structural synthesis was presented, which was used to synthesize the decoupled parallel mechanism. The kinematic chains of decoupled parallel mechanism were consisted of by the basic kinematic chain and the driven-chains. The structural condition of decoupled spherical parallel mechanism was deduced, and a series of novel spherical parallel mechanism were synthesized. The kinematics analysis verified that the mechanism had three fully decoupled rotational DOFs, and each rotational DOF was driven by a single actuator.