摘要
给出了并联机构具体可行的变拓扑结构途径。以4-TPT并联机构为例,以其串联分支为基础,依据螺旋理论研究了其中一种变拓扑实现形式,得到了数量众多的对称型与非对称型变拓扑结构并联机构。通过对该类变拓扑结构并联机构特性进行的分析、研究和对比,表明变拓扑结构并联机构的工作空间与灵巧度性能指标有了显著提高。
Several specific and feasible changing topology ways of variable topology parallel mechanism are given. The 4 - TPT parallel mechanism is selected for further analysis on one of the changing topology ways and a large number of symmetrical or unsymmetrical variable topology structure parallel mechanisms are obtained, which verifies the validity of the process mentioned above. And also, the characteristics of this kind of variable topology structure parallel mechanisms are explored. The results show that workspace and dexterity of type variable topology structure parallel mechanism obtained are enhanced remarkably .
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2009年第6期217-221,226,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
山东省自然科学基金资助项目(Y2006F59、Y2006G17)
关键词
并联机构
变拓扑结构机构
变拓扑方式
机构特性
Parallel mechanisms, ways, Characteristics Variable topology structure mechanisms, Changing topology of mechanisms
