张帆,张丹.基于支链驱动理论的解耦球面转动并联机构型综合[J].农业机械学报,2011,42(11):195-199.
Zhang Fan,Zhang Dan.Structural Synthesis of Decoupled Spherical Parallel Mechanism Based on Driven-chain Principle[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(11):195-199.
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基于支链驱动理论的解耦球面转动并联机构型综合   [下载全文]
Structural Synthesis of Decoupled Spherical Parallel Mechanism Based on Driven-chain Principle   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  并联机构  支链驱动  解耦运动  型综合
基金项目:国家自然科学基金资助项目(50975046);上海市高校培养优秀青年教师科研专项基金资助项目(gjd09036);上海仓储物流设备工程技术研究中心资助项目(10dz2250800)
作者单位
张帆 上海工程技术大学 
张丹 安大略理工大学 
中文摘要:针对解耦并联机构与串联机构的运动学相似性,提出一种解耦球面转动并联机构的支链驱动理论,将解耦并联机构分为基本运动支链和驱动支链。在此基础上,推导得到球面转动并联机构运动解耦的拓扑条件,并利用该条件综合得到多种结构新颖的球面转动并联机构。经运动学分析表明:此类机构具有3个独立的转动自由度,且每个自由度仅由单个驱动器控制,实现了球面转动并联机构的运动解耦。
Zhang Fan  Zhang Dan
Shanghai University of Engineering Science;University of Ontario Institute of Technology
Key Words:Parallel mechanism  Driven-chain principle  Decoupled motion  Structural synthesis
Abstract:Focused on the similarity between the kinematics of decoupled parallel mechanism and serial mechanism, a unique method of structural synthesis was presented, which was used to synthesize the decoupled parallel mechanism. The kinematic chains of decoupled parallel mechanism were consisted of by the basic kinematic chain and the driven-chains. The structural condition of decoupled spherical parallel mechanism was deduced, and a series of novel spherical parallel mechanism were synthesized. The kinematics analysis verified that the mechanism had three fully decoupled rotational DOFs, and each rotational DOF was driven by a single actuator.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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