CUBIC HYBRID MECHANISM BASED ON ST OUTPUT BASE AND P/R INPUT BASE
Based on the flexibility of single couple of serial mechanism and the stability of multi couples of parallel mechanism,a new type of ST output base of hybrid mechanism presented,component of sphere joint run through the tiger joint,this component still the output one with the capability of rotate in three dimensional space.Add serial branch including three translation couple P or/and rotation couple R to the new type of ST output base,put these members on one cubic frame,twenty seven configurations obtained with 3-DOF(degree of freedom) allow of three dimensional rotation,twenty seven configurations belong to three conditions obtained with 4-DOF allow of three dimensional rotation and one dimensional translation,nine configurations belong to three conditions obtained with 5-DOF allow of three dimensional rotation and two dimensional translation,one configuration obtained with 6-DOF allow of three dimensional rotation and three dimensional translation,all those sixty four configurations have no more than six translation couple or rotation couple,and the sum of two kind of couple is equal to six.Developing new type of hybrid manipulator based on the hybrid cubic mechanism constructed with ST output base and P/R input base will be possible in theory and useful.
Output base Input base Hybrid Mechanism Degree of freedom
Luo Jianguo He Maoyan
Mechanical and Electrical Engineering Department, North China Institute of Science and Technology, E Labour Union, North China Institute of Science and Technology, East Surbub of Beijing,China, 101601
国际会议
厦门
英文
1725-1728
2012-01-04（万方平台首次上网日期，不代表论文的发表时间）