基于方位特征的六自由度并联机构型综合

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Using topological structure synthesis method based on the POC set,10 kinds of 3-translational and 3-rotation parallel mechanisms were synthesized and the synthesis procedures were given.Then,these parallel mechanisms were classified based on the structure characteristics.This method is easy for mathematical operation and the geometrical meaning and the physical meaning are clear,which may be applicable for both topological structure synthesis of non-over-constrained and generally over-constrained mechanisms.And the existence geometric condition of mechanisms synthesized by this method have generality.应用基于方位特征集的机构拓扑结构设计理论与方法,综合了10余种低耦合度六自由度并联机构的拓扑结构,给出了综合的过程与步骤,对机构结构进行了特性分析及分类。该方法几何与物理意义明确,所用数学方法简单,适用于无过约束机构和一般过约束机构的拓扑结构设计,且机构存在的几何条件具有一般性。