Type synthesis of spatial mechanisms for forging manipulators

被引：15

作者：

Xu, Yundou ^{[1
]}

Yao, Jiantao ^{[1
]}

Zhao, Yongsheng ^{[1
]}

机构：

[1] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2012年 / 226卷 / C9期

关键词：

Forging manipulator; type synthesis; parallel mechanism; screw theory; non-overconstrained; PARALLEL MANIPULATORS; MOBILITY; CONSTRAINT; 4-DOF;

D O I：

10.1177/0954406211433246

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this study, a systematic method is proposed to synthesize the parallel and hybrid serial-parallel mechanisms for the forging manipulators based on the screw theory. First, several typical configurations of five-degrees-of-freedom parallel mechanism for the forging manipulators are synthesized, and they are all non-overconstrained mechanisms. Then, two kinds of hybrid serial-parallel mechanisms for the forging manipulators with the advantages of motion decoupling are constructed, which are also not overconstrained. The configurations obtained in this study would provide more type selection for the heavy-duty forging manipulators in engineering.

引用

页码：2320 / 2330

页数：11

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