|
Abstract: Based
on the ordered single-opened-chain, a new method of direct displacement
solution for spatial parallel mec- hanism is presented. According to the
topological structure charact- eristics of the mechanism, the mechanism
can be decomposed into some ordered single-opened-chains, which can
further compose same basic kinematic chains. The mechanism
coupling-degree is given, and following the principle of the mechanism
coupling degree calculation method and the decomposition order of the
single-opened-chains, the mechanism displacement analysis
mathematics
model that is uniform with its topological struc- ture characteristics
is established. The direct displacement equations are derived, and the
equations’ number of dimension is just equal to the mechanism
coupling-degree and no skill to decrease the dimension is needed. As the
mechanism coupling- degree is 1, all real number direct displacement
solutions can be obtained by one-dimension search. The analysis
processing is concise and universal, and its physicals meaning is clear.
Com- pared with other general search methods, this method is of
higher
calculation efficiency and can gain all real number solutions. As an
example, all real number direct displacement solutions of a 4-DOF
parallel mechanism are obtained by one-dimension search.
Key words:Parallel
mechanism Direct displacement solution Single-opened-chain
CLC No: TG156
国家自然科学基金资助项目(50275070). Received
20050615, received in revised form 20060227
|