论文部分内容阅读
基于传统的串联和并联机构构建新型6自由度混联立方机构,通过直线驱动实现输出主轴的三维移动和转动。对机构中常用运动副、机构运动基本单元的移动基和转动基的空间活动能力进行描述定义,基于机构由构件通过关节连接而成的事实,提出一种新的构件关系拓扑图论描述方法,该方法以构件框、约束构件框、构件关系线、约束构件关系线、相邻构件空间相对活动能力关系为要素,对串联机构、并联机构、混联机构进行新的图论描述。基于支链空间活动能力维度和机构空间活动能力维度定义,以实例形式给出混联机构自由度的分析方法,并得到机构非奇异的充要条件。采用解析几何的方法得到机构可达工作空间的形态为一规则的长方体,可达工作空间体积取决于机构平移运动副的运动极限,从而得到其影响因素。通过作图法对机构输出主轴在任意空间位姿的极限偏转角度进行分析,得知导轨长度等是影响其偏转的主要因素。
Based on the traditional series and parallel mechanism, a new type of 6 DOF hybrid cubic mechanism is constructed, which realizes the three-dimensional movement and rotation of the output spindle through linear driving. Based on the fact that the mechanism is connected by components through joints, a new method to describe the topological graph of component relation is proposed, In this method, a new graph theory is described for the series, the bounding, the relational, the relative activity ability of the adjacent components. Based on the definition of the dimensionality of branch space activities and the dimensionality of agency activities, the analysis method of freedom degrees of hybrid agencies is given by way of examples. The necessary and sufficient conditions of the institutions are obtained. The analytic geometry is used to get the rectangular shape of the reachable working space. The size of the reachable working space depends on the movement limit of the translational kinematic pair and the influencing factors are obtained. Through the drawing method, the limit deflection angle of the mechanism output spindle in any space posture is analyzed, it is known that the length of the guide rail is the main factor that affects the deflection.