Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit

Sheng Weifeng; Chen Hai; Qin Youlei; Cao Yi

doi:10.16578/j.issn.1004.2539.2016.03.006

您当前的位置：

首页 >

文章列表页 >

Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit

更新时间：2022-10-20

- Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit
- Vol. 40, Issue 3, Pages: 28-34(2016)
- 作者机构：
  
  1. 江南大学机械工程学院
  2. 江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.03.006
  CLC：
扫描看全文
[1]盛卫锋,陈海,秦友蕾,曹毅.基于单开链单元的3T2R混联机器人构型综合[J].机械传动,2016,40(03):28-34.

Sheng Weifeng, Chen Hai, Qin Youlei, et al. Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit. [J]. 40(3):28-34(2016)
[1]盛卫锋,陈海,秦友蕾,曹毅.基于单开链单元的3T2R混联机器人构型综合[J].机械传动,2016,40(03):28-34. DOI： 10.16578/j.issn.1004.2539.2016.03.006.

Sheng Weifeng, Chen Hai, Qin Youlei, et al. Type Synthesis of Hybrid Robot Mechanism with 3T2R based on Single Opened Chain Unit. [J]. 40(3):28-34(2016) DOI： 10.16578/j.issn.1004.2539.2016.03.006.

摘要

通过分析少自由度串联机器人机构和并联机器人机构的构型特点,基于运动螺旋线性无关的原理,以单开链少自由度串联机构为单元,提出了一种系统有效的混联机构构型综合的新方法和单并联、多并联混联机构的概念及表示方法。首先根据螺旋理论构造单开链3T2R五自由度串联机构,其次将并联机构视为一个复合运动单元构型到串联机构中,替代串联机构中运动基相同且连续的运动单元,从而获得3T2R五自由度混联机器人构型。最后通过运动螺旋的线性组合生成其他混联机构。

Abstract

By analyzing the structures characteristics of the lower- mobility serial kinematic mechanism（SKM） and parallel kinematic mechanism（ PKM）,based on the linear independence theory of kinematic screws and taking of the lower- mobility SKM with single opened chain as unit,a systematic and effective type synthesis method is proposed for hybrid mechanism including the definition and symbol denotation method of both hybrid robots with a parallel mechanism and multi- parallel mechanisms. Firstly,the type synthesis of3T2 R 5- Do F SKMs with single opened chain are constructed based on the screw theory,then the type synthesis of 3T2 R hybrid mechanisms are accomplished by regarding PKM as a complex kinematic unit and replacing an equal DOF kinematic chain unit in lower- mobility SKM with single opened chain unit. Finally,other hybrid mechanisms are generated by the linear combination of the kinematic screw.

关键词

单开链螺旋理论串联机构混联机器人机构

Keywords

Single opened chainScrew theorySerial mechanismHybrid robot mechanism

references

Views

142

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Type Synthesis of 3R2T Hybrid Robot Mechanisms based on Serial-opened-chain Unit

Type Synthesis of 2T2R Parallel Mechanisms Based on Optimal Transmission

Configuration Synthesis and Kinematics Analysis of the 1R2T Parallel Mechanism in the Chinese Baijiu Box Packaging Production Line

Gait Analysis and Simulation of a Multi-mode 4-UPU Mechanism

Kinematics Analysis and Scale Synthesis of a Novel Spherical Parallel Mechanism

Related Author

No data

Related Institution

State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University

College of Electrical Engineering and Intelligent Manufacturing, Chongqing Metropolitan College of Science and Technology

School of Mechanical Engineering, North University of China

Department of Mechanical and Electronic Engineering, Shanxi Engineering Vocational College

School of Mechanical and Automotive Engineering， Shanghai University of Engineering Science

⁰