Type Synthesis of the Hybrid Rotary Platform Mechanism with Three Degrees of Freedom

摘要：

　　To improve the carrying capacity,a novel hybrid mechanism for rotary platform with three degrees of freedom (DOFs) is proposed,the serial mechanism is located on the moving platform (MP) of the parallel mechanism (PM),but its actuation system are located on the base,and the rolling motion is transferred by a motion transferring chain.The constraint wrench imposed on the upper MP of the hybrid rotary platform is analyzed,the type synthesis of the motion transferring chain was carried out using the constraint-synthesis method based on reciprocal screw theory.The relationship between input of the transferring chain and output of the upper MP is established,then the principle of transferring rolling motion by the motion transferring chain is explained.Finally,based on the motion transferring chain after optimization,two hybrid mechanisms for the rotary platform with three DOFs are obtained,which can meet the demands presented above.

关键词： Type synthesis Hybrid mechanism Screw theory

作者: Yundou Xu Liangliang Chen Wennan Yan Bei Wang Yongsheng Zhao

作者单位: Parallel Robot and Mechatronic System Laboratory of Hebei Province,Qinhuangdao 066004, Hebei, China Parallel Robot and Mechatronic System Laboratory of Hebei Province,Qinhuangdao 066004, Hebei, China;

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 379-387

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）