基于向量组的动静平台几何装配条件自动分析与综合方法

中国机械工程

基于向量组的动静平台几何装配条件自动分析与综合方法

谢冬福1;罗玉峰1，2;石志新1;彭艳蓝1

1.南昌大学机电工程学院, 南昌，330031
2.华东交通大学机电与车辆工程学院，南昌，330013

出版日期:2017-12-25 发布日期:2017-12-21
基金资助:
国家自然科学基金资助项目（51365036）;
南昌大学研究生创新专项基金资助项目（CX2015060）
National Natural Science Foundation of China （No. 51365036）

Automatic Analysis and Synthesis Method for Geometric Assembly Conditions of Moving and Fixed Platforms Based on Vector Sets

XIE Dongfu1;LUO Yufeng1,2;SHI Zhixin1;PENG Yanlan1

1.School of Mechanical and Electrical Engineering，Nanchang University,Nanchang,330031
2.School of Mechanical and Vehicular Engineering，East China Jiaotong University,Nanchang,330013

Online:2017-12-25 Published:2017-12-21
Supported by:
National Natural Science Foundation of China （No. 51365036）

摘要/Abstract

摘要： 基于方位特征集理论，提出了一种基于向量组的动静平台几何装配条件自动分析与综合方法，给出了其主要步骤和流程图。实例分析表明：在并联机构拓扑结构设计过程中，提出的自动分析与综合方法可综合出更多的机构，且综合出的机构更具一般性；在并联机构拓扑结构分析与综合过程中，所提出的方法减少了对设计者人为经验、灵感等因素的依赖，提高了并联机构拓扑结构综合的效率，方便计算机对机械系统进行自动分析与综合。

关键词: 并联机器人, 自动分析与综合, 向量组, 几何装配条件

Abstract: Based on the theory of position and orientation characteristics sets, an automatic analysis and synthesis method for geometric assembly conditions of moving and fixed platforms was proposed based on vector sets, and the main steps and flow charts were given. The example analyses show that the automatic analysis and synthesis method proposed in the processes of topology design of parallel mechanisms may synthesize more mechanisms, and the integrated mechanism is more general. In the processes of topology analysis and synthesis of parallel mechanisms, the proposed method reduces the dependence on designer's human experiences, inspiration and other factors, improves the efficiency of topology synthesis of parallel mechanisms, and facilitates the automatic analysis and synthesis of mechanical systems by computer.

Key words: parallel robot, automatic analysis and synthesis, vector set, geometric assembly condition

中图分类号:

TH112

谢冬福1;罗玉峰1，2;石志新1;彭艳蓝1. 基于向量组的动静平台几何装配条件自动分析与综合方法[J]. 中国机械工程.

XIE Dongfu1;LUO Yufeng1,2;SHI Zhixin1;PENG Yanlan1. Automatic Analysis and Synthesis Method for Geometric Assembly Conditions of Moving and Fixed Platforms Based on Vector Sets[J]. China Mechanical Engineering.

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