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Abstract: Based on the Lie group and Lie algebra theory, type
synthesis for 3-DOF translational parallel mechanisms is investigated
systematically. Twist systems representing the subalgebra of
displacement subgroup of T and X(w) are proposed. Several limb kinematic
chains which can produce the displacement subgroup of X(w) are obtained
through linear combination of the twists. According to the geometrical
condition that guarantees the intersection of several displacement
subgroups of X(w) is the displacement subgroup of T, several novel 3-DOF
translational parallel mechanisms are constructed, which testifies the
results of type synthesis obtained before by structural constraint
method.
CLC No: TH112
国家自然科学基金资助项目(50075074). Received
20011207,
received in revised form
20020530
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