摘要
运动解耦的机构容易控制 ,并且可以达到更高的运动精度。然而随着机构学不断发展 ,尤其是并联机构的出现 ,很多机构不具有运动解耦的性质。对于并联机构 ,可以得出结论 ,运动不解耦才是其本质特征。因此有必要研究一般机构实现的简单运动 ,并定义为解耦运动。解耦运动对机构的运动控制和轨迹规划都有一定意义。使用螺旋理论 ,给出了解耦运动的定义、分类 ,及机构存在解耦运动的必要条件和充分特例。最后通过一个二自由度转动机构的设计实例 ,综合了上述概念和方法。
Decoupled mechanisms are easy to control and apt to reach high accuracy. With the development of mechanism, especially the emergence of parallel mechanism, many ones dont hold this merit. Especially, this merit is not an intrinsic property of parallel mechanisms. Its necessary to study their simple motions and name these motions decoupling motions. This kind of movement links very closely to motion control and pathway planning. By the use of screw theory, the definition, classification of decoupling motion, together with the necessary condition and several sufficient conditions for mechanism to realize this kind of motion are given. Finally a mechanism design example of a 2 DOF rotating mechanism is given as an example. It incarnates our research work on mechanism design and mechanism analysis.
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
2002年第2期85-90,共6页
Journal of National University of Defense Technology
关键词
解耦运动
机构分析
机构综合
并联机构
decoupling motion
mechanism analysis
mechanism design
parallel mechanism
