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首页> 外文会议>Mechanisms and robotics conference;ASME international design engineering technical conferences and computers and information in engineering conference >ISOTROPIC ANALYSIS OF LINE VECTOR FORCES AND ITS APPLICATION IN THE TYPE SYNTHESIS OF REDUNDANTLY ACTUATED 3-DOF TRANSLATIONAL PARALLEL MECHANISMS
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ISOTROPIC ANALYSIS OF LINE VECTOR FORCES AND ITS APPLICATION IN THE TYPE SYNTHESIS OF REDUNDANTLY ACTUATED 3-DOF TRANSLATIONAL PARALLEL MECHANISMS

机译：线矢量的各向同性分析及其在冗余驱动的3自由度平移并联机构类型合成中的应用

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摘要

The load-carrying capacity of a mechanism is closely related to its line vector force. This article presents a thorough isotropic analysis of line vector forces. The results show that the isotropic condition can be satisfied when the line vector forces are evenly distributed on a conical surface with a cone-top angle of 109.472 degrees. By combining the isotropic line vector forces, a method for the type synthesis of 3-DOF, redundantly actuated translational parallel mechanisms (PMs) is proposed, in which the arrangement of the active joints is taken into account in advance. Using this method, a kinematic chain with a twist system reciprocal to both the constraint and actuation wrenches is constructed firstly, and then the active joint reciprocal to the constraint wrenches but not to the actuation wrench is constructed. Thus, a series of typical redundantly actuated PMs with isotropic actuation forces are obtained. Finally, the 4-PRRR PM is analyzed as an example, and the results show that the isotropy of the load-carrying capacity can always be satisfied during its movement.
机译：机构的承载能力与其线矢量力密切相关。本文对线矢量力进行了透彻的各向同性分析。结果表明，当线矢量力均匀分布在锥顶角为109.472度的圆锥面上时，各向同性条件可以满足。通过结合各向同性的线矢量力，提出了一种用于3自由度类型合成，冗余驱动的平移并联机构（PMs）的方法，其中提前考虑了活动关节的布置。使用这种方法，首先构造了一个带有扭力系统的运动链，该扭力系统对约束扳手和致动扳手都是双向的，然后构造了活动关节对约束扳手而不是致动扳手双向。因此，获得了具有各向同性致动力的一系列典型的冗余致动PM。最后，以4-PRRR PM为例进行了分析，结果表明，在其运动过程中始终可以满足其承载能力的各向同性。

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