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分析了平面3-RRR三自由度并联机构中存在的过约束及其有害影响,详细讨论了在保证3-RRR并联机构平面运动特性的情况下无过约束自调结构的设计问题,得出了几种新的平面三自由度并联机构运动副配置方案,深入分析了2-RCS-RRR结构的自调特性。
The over-constraint and its detrimental effects in the planar 3-RRR parallel mechanism with three degrees of freedom are analyzed. The design problem of the unconfined self-adjusting structure with the constraint of the planar motion of the 3-RRR parallel mechanism is discussed in detail. Several new planar three degrees of freedom parallel mechanism kinematic pair configuration scheme, in-depth analysis of the 2-RCS-RRR structure of the self-tuning characteristics.