Type Synthesis of Dual-driven 2T3R 5-DOF Parallel Mechanism Based on Lie Group Theory

China Mechanical Engineering ›› 2012, Vol. 23 ›› Issue (17): 2053-2057.

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Type Synthesis of Dual-driven 2T3R 5-DOF Parallel Mechanism Based on Lie Group Theory

Fan Caixia1,2;Liu Hongzhao1

1.Xi'an University of Technology,Xi'an,710048
2.Jiaozuo University,Jiaozuo,Henan, 454000

Online:2012-09-10 Published:2012-09-12
Supported by:

National Natural Science Foundation of China（No. 50575180, 50905055）;
Shanxi Provincial Foundation of Ministry of Education of China（No. 2010JK701）

基于李群理论的双驱动2T3R五自由度并联机构型综合

范彩霞1,2;刘宏昭1

1.西安理工大学,西安,710048
2.焦作大学,焦作,454000

基金资助:
国家自然科学基金资助项目(50575180, 50905055)；陕西省教育厅基金资助项目(2010JK701)；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, 50905055）;
Shanxi Provincial Foundation of Ministry of Education of China（No. 2010JK701）

Abstract

Abstract:

Based on Lie group theory a systematic approach for type synthesis of dual-driven 5-DOF parallel mechanism was proposed. By using the proposed method, a family of dual-driven 5-DOF parallel mechanism with two-translation and three-rotation was synthesized, some new dual-driven 5-DOF parallel mechanisms were obtained。Finally, the calculation of DOF and the selection of active pairs for a novel parallel mechanism were performed, and the result shows that the method of type synthesis proposed herein is correct and feasible. 

Key words: parallel mechanism, dual-driven, Lie group theory, type synthesis

摘要：

基于李群理论,提出了双驱动两移动三转动（2T3R）五自由度并联机构型综合的方法,应用该方法综合了2T3R五自由度双驱动并联机,得到了一类新型的双驱动五自由度并联机构。对一种新型机构,运用李群理论进行自由度的计算,运用单开链法进行主动副的选取,结果表明所提出的型综合方法正确可行。



关键词: 并联机构, 双驱动, 李群理论, 型综合

CLC Number:

TP242
TH112

FAN Cai-Xia-1, 2, LIU Hong-Zhao-1. Type Synthesis of Dual-driven 2T3R 5-DOF Parallel Mechanism Based on Lie Group Theory[J]. China Mechanical Engineering, 2012, 23(17): 2053-2057.

范彩霞1, 2, 刘宏昭1. 基于李群理论的双驱动2T3R五自由度并联机构型综合[J]. 中国机械工程, 2012, 23(17): 2053-2057.

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Type Synthesis of Dual-driven 2T3R 5-DOF Parallel Mechanism Based on Lie Group Theory

基于李群理论的双驱动2T3R五自由度并联机构型综合

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