摘要
This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.
This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.
基金
This work was supported by the National Natural Science Foundation of China (Grant No. 50075074).
