|
Abstract: Based on the units of single-opened-chain limb, some
structural laws of degenerate-rank parallel robot mechanisms are
revealed, and a systematic and effective new method for structural
synthesis of 3DOF translational parallel robot mechanisms is put
forward. 33 mechanisms are synthesized and classified, 29 of which are
presented for the first time. The method is of universal significance
and is used for the structural synthesis of degenerate-rank parallel
robot mechanisms with other kinematics output types.
Key words: Parallel robot mechanisms Degenerate-rank
Single-opened-chain limb Structural synthesis
CLC No: TH112 TP242
国家自然科学基金资助项目(59875084). Received 20001211, received in revised form
20010921
|