Based on the single-opened-chain(SOC) theory and method for structure design, structure design of parallel mechanism with symmetric 3-DOF was discussed. Some rules of symmetrical minor-mobility mechanism is disclosed. It is an effective method for presenting a structure synthesis approach for forming a 3-DOF parallel manipulator. As examples,5 kinds of 3T and 6 kinds of 3R parallel mechanisms are designed with this method. These mechanisms are topologically symmetric. These mechanisms are deliberately classified according to their topologically characteristics.
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陈红亮,罗玉峰,杨廷力.对称三自由度并联机器人拓扑结构型综合与分类[J].农业机械学报,2008,39(1):138-141.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):138-141.