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一种低耦合2T2R并联机构的设计与分析
Authors
彭艳蓝
石志新
罗玉峰
谢冬福
Publication date
1 January 2018
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
针对传统并联机构结构复杂、位置分析困难、强耦合、不易控制等问题,设计了一种新型低耦合2T2R并联机构。首先,基于方位特征集理论对该机构进行了运动特性分析;然后,为将运动学方程维数降到最小,运用序单开链理论对该机构进行了合理分解和位置建模;最后,结合具体实例进行了分析验证。结果表明,该机构自由度为4,其动平台可实现两平移和两转动;耦合程度较低,具有运动输入—输出部分解耦性;位置方程简单,可解析求解
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Last time updated on 06/04/2023