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针对当前研究混合驱动机构主要集中在平面二自由度机构的现状,提出将3-RRR机构用作混合驱动机构的设想。通过对3-RRR机构奇异位形的分析,基于平面单闭环连杆机构的可装配性,提出该机构避免正向奇异位形的几何条件。之后结合曲柄条件建立了运动学模型。通过ADAMS的仿真证实了该几何条件的有效性,也说明将3-RRR机构用作混合驱动机构是完全可行的。
Aiming at the current situation that the hybrid driving mechanism is mainly concentrated on the planar two-degree-of-freedom mechanism, a 3-RRR mechanism is proposed as a hybrid driving mechanism. Based on the analysis of the singularity of 3-RRR mechanism, the geometry of the mechanism to avoid forward singularity is proposed based on the assemblage of planar single closed-loop linkage. Kinematics model was established with crank condition. The simulation of ADAMS confirms the validity of the geometry and shows that it is perfectly feasible to use a 3-RRR mechanism as a hybrid drive.