构型综合, 螺旋理论, 锻造操作机;无过约束

In order to further improve decoupling performance of forging manipulators, two kinds of hybrid serial-parallel forging manipulators were configurated. Lifting motion of forging manipulator Ⅰ was realized by the parallel 4R mechanism, motions of pitching, yawing, left-and-right translation, back-and-forward translation and redundant lateral translation were realized by a 5-DOF parallel mechanism; lifting and pitching motions of forging manipulator Ⅱ were realized by a serial kinematic chain composed of revolute joint R and the parallel 4R mechanism, motions of yawing, left-and-right translation, back-and-forward translation and redundant lateral translation were realized by 4-DOF parallel mechanism. Then, 5-DOF parallel mechanism and 4-DOF parallel mechanism were synthesized by using the constraint-synthesis method based on screw theory. In concequence, several overconstrained and non-overconstrained 5-DOF parallel mechanisms are obtained, and several overconstrained 4-DOF parallel mechanisms and non-overconstrained 4-DOF parallel mechanisms are also obtained. 