【摘要】 提出了一般可约系统的定义。从研究运动不耦合的3自由度移动并联机构的输入输出关系出发,给出了3 自由度可约移动并联机构的定义和判定充要条件。定义了一种新的Gf坐标,利用此坐标给出了可约并联机构的型综合一般过程,并综合出了5种3自由度可约移动并联机构。针对这类机构的特殊性能,以其中一种机构为例, 基于机构动平台参考点的工作空间进行了优化设计。更多还原

【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.更多还原