【摘要】 螺旋理论是分析少自由度机构运动学的有力工具。本文基于螺旋理论对少自由度并联机器人的机构构型中的约束问题作了分析,并对约束链的自由度作了计算,为并联机构的特殊型位分析、运动分析、受力分析提供了有力证据,并进一步丰富了螺旋理论的应用。更多还原

【Abstract】 The screw theory is one of powerful tools for type synthesis and kinematics analysis of lower-mobility parallel mechanisms. The constraint problem is studied in this paper based on screw theory for some of the lower-mobility parallel mechanisms. The DOF (degree of freedom) of the constraint chains is calculated. The effective evidence is afforded for special type analysis, kinematics analysis and force analysis of the parallel mechanisms. This will enrich the applications of the screw theory.更多还原