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首页> 外文期刊>IEEE Transactions on Robotics >Parallel Mechanisms With Bifurcation of Schoenflies Motion
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Parallel Mechanisms With Bifurcation of Schoenflies Motion

机译：分叉运动的并联机构

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摘要

Type synthesis of lower mobility parallel mechanisms (PMs) has attracted extensive attention in research community of robotics over the last seven years. One important trend in this area is to synthesize PMs with prespecified motion properties. This paper focuses on the type synthesis of a special family of PMs whose moving platform can undergo a bifurcation of Schoenflies motion. First, bifurcation of Schoenflies motion in PMs is interpreted in terms of displacement group theory and the basic limb bond {${bf X}$(${bf y}$)}{ ${bf R}$($N$, ${bf x}$)} is identified. Further, the geometric condition for constructing a PM with bifurcation of Schoenflies motion is presented. The kinematic equivalence between {${bf X}$ (${bf y}$)}{${bf R}$ ($N$, ${bf x}$ )} and {${bf X}$( ${bf y}$)}{${bf X}$( ${bf x}$)} is proven. Four subcategories of irreducible representation of the product { ${bf X}$(${bf y}$ )}{${bf X}$(${bf x}$ )} are proposed and the limb chains that produce the desired limb bond are synthesized. Finally, the partitioned mobility of PMs with bifurcation of Schoenflies motion and its effect on actuation selection are discussed.
机译：在过去的七年中，低移动性并行机制（PM）的类型综合在机器人研究界引起了广泛关注。该领域的一个重要趋势是合成具有预定运动特性的PM。本文着重于特殊PM系列的类型合成，其移动平台会经历Schoenflies运动的分叉。首先，根据位移群理论和基本肢体结合{$ {bf X} $（$ {bf y} $）} {$ {bf R} $（$ N $，$ {bf x} $）}被识别。此外，提出了构造具有Schoenflies运动分支的PM的几何条件。 {$ {bf X} $（$ {bf y} $）} {$ {bf R} $（$ N $，$ {bf x} $）}和{$ {bf X} $（$ {bf y} $）} {$ {bf X} $（$ {bf x} $）}被证明。提出了产品的不可约表示的四个子类别{$ {bf X} $（$ {bf y} $）} {$ {bf X} $（$ {bf x} $}}，并产生了所需的肢体链。肢体键合成。最后，讨论了带有Schoenflies运动分支的PM的分区迁移率及其对驱动选择的影响。

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