中国机械工程 ›› 2010, Vol. 21 ›› Issue (9): 1101-1105.

• 机械基础工程 • 上一篇    下一篇

基于构型演变和李群理论的2T2R型四自由度并联机构型综合

范彩霞1,2;刘宏昭1;张彦斌3
  

  1. 1.西安理工大学,西安,710048
    2.焦作大学,焦作,454150
    3.河南科技大学,洛阳,471003
  • 出版日期:2010-05-10 发布日期:2010-05-19
  • 基金资助:
    国家自然科学基金资助项目(50575180);陕西省重点学科建设专项基金资助项目;西安理工大学优秀博士学位论文研究基金资助项目(102-210911)
    National Natural Science Foundation of China(No. 50575180)

Type Synthesis of 2T2R 4-DOF Parallel Mechanism Based on Configuration Evolution and Lie Group Theory

Fan Caixia1,2;Liu Hongzhao1;Zhang Yanbin3
  

  1. 1.Xi’an University of Technology,Xi’an,710048
    2.Jiaozuo University,Jiaozuo,Henan, 454150
    3.Henan University of Science and Technology,Luoyang,Henan,471003
  • Online:2010-05-10 Published:2010-05-19
  • Supported by:
    National Natural Science Foundation of China(No. 50575180)

摘要:

基于构型演变和李群理论提出一类2T2R型四自由度并联机构型综合的系统方法。将6R平面机构某构件两端的R副替换为U副,并添加2条具有六自由度的支链SPS,演变成一个空间并联机构2RRU2SPS;运用李群理论,综合出等效支链,构造一类2T2R型四自由度并联机构。对一种新型2RPU2SPS机构,运用单开链法进行自由度的计算和主动副的选取,结果表明所提出的型综合方法正确可行。
 

关键词:

Abstract:

Based on configuration evolution and Lie group theory a systematic approach for type synthesis of 2T2R 4-DOF parallel mechanism was proposed. Firstly, a 6R planar mechanism was evolved into spatial parallel mechanisms 2RRU2SPS by replacing R pairs with the U pairs at both ends of the link and adding to two SPS branched chains with 6-DOF. Secondly, the equivalent branched chains were identified on the basis of Lie group theory and a family of 2T2R parallel mechanism was synthesized. Finally the calculation of DOF and the selection of active pairs of a novel 2RPU2SPS parallel mechanism were performed by a single opened chain method and the result shows that the method of type synthesis proposed here is correct and feasible. 

Key words: parallel mechanism, type synthesis, configuration evolution, Lie group theory

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