Type synthesis of parallel mechanisms with three translational degrees of freedom

被引：6
|
作者：
Yu, JJ [1 ]
Zhao, TS
Bi, SS
Zong, GH
Huang, Z
机构：
[1] Beijing Univ Aeronaut & Astronaut, Inst Robot, Beijing 100083, Peoples R China
[2] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Peoples R China
来源：
PROGRESS IN NATURAL SCIENCE | 2003年 / 13卷 / 07期
关键词：
type synthesis; parallel mechanism; screw theory; micromanipulator; degree of freedom;
D O I：
10.1360/03jz9095
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom (DOF) based on the screw theory is presented. Firstly all possible connecting-chain structures of three-DOF parallel mechanisms are enumerated. According to the reciprocal relationship between screw constraint forces and the motion screw, a novel synthesis method is presented. By using this method, type synthesis for translational three-DOF parallel mechanisms has been made in a systematic and detailed way. As a result, dozens of novel parallel mechanisms generating spatial translation have been obtained. To verify the significance of type synthesis for this kind of mechanism, this paper also gives an example of application, which is used for a micromanipulator for manipulating cells.
引用
收藏
页码：536 / 545
页数：10
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