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Abstract: The definition of general reducible system is proposed. The
relationship between the inputs and outputs of the 3-DOF translational
parallel manipulator with independent motions is investigated. The
definition of the 3-DOF reducible translational parallel mechanism is
presented. Further more, the satisfying and necessary conditions for the
judgment of this kind of mechanisms is given. A new Gf coordinates is
defined for the type synthesis of the reducible parallel mechanisms. And
five such mechanisms are presented. Taking one of them as example, a new
optimization design method based on the workspace of the moving platform
is also presented.
Key words: reducible mechanisms type synthesis Gf coordinates
optimization design
CLC No: TP24
国家杰出青年基金(50125516).振动.冲击.噪声国家重点实验室(VSN-2005-07)和天津市自然科学基金重点(043801811)资助项目.
Received 20041230, received in revised form 20050425
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