少自由度并联机构运动等效机构的基础理论研究

项目名称： 少自由度并联机构运动等效机构的基础理论研究

项目编号： No.51305382

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 胡波

作者单位： 燕山大学

项目金额： 25万元

中文摘要： 少自由度并联机构的构型丰富，其中不乏构型不同而运动完全相同的机构。然而少自由度并联机构对运动副要求很高，导致具有实用价值的机型还比较少。本项目定位于少自由度并联机构运动等效机构的理论研究，提出了运动等效机构的概念，研究运动等效机构的存在规律，基于线性变换原理建立寻找运动等效机构的方法体系，并寻找一些经典而实用的并联机构的运动等效机构。同时基于这类机构存在的运动学相同，而约束不同导致机构性质、性能不同这一特殊现象，建立这类机构与约束相关的机构特性的理论模型，揭示约束对运动等效机构特性的影响机理，并通过对比机构性质、性能差异实现这类机构优选。运动等效机构的研究可为少自由度并联机构本质和特性提供了更深层次的认识,丰富和完善少自由度并联机构理论。同时可以解决目前限制少自由度并联机构发展的诸如运动副布置几何条件要求高，结构复杂、难于制造等问题，推进少自由度并联机构的实用化进程。

中文关键词： 并联机构；运动等效机构；约束Jacobian；Exechon机构；

英文摘要： The limited degree of freedom parallel manipulators have a variety of structures. Some parallel manipulators which have identical kinematics but different structures are among them. However, the exacting standard for their joints leads to the parallel manipulators which has practical value are relatively few. This project focuses on the study of basic theory of kinematics-identical manipulators for lower mobility parallel manipulators, proposes the concept of kinematics-identical manipulator,stduies the existence conditions for kinematics-identical manipulators,establishes the systematic method for finding such manipulators based on linear theory, and aims at finding the kinematics-identical manipulators for some classic and practical manipulators using proposed method. Meanwhile,based on the particular phenomenon that the kinematics-identical manipulators are identical in kinematics, but are different in structural constraints and thus produce different properties and kinematical performances, this project establishes the theory system about the property relative to constraints, investigates the influence of constraints effect on the kinematics-identical manipulators, studies the differences of potential properties and kinematical performances between kinematics-identical manipulators and finds the manipulato

英文关键词： parallel manipulator；Kinematically identical manipulator；constraint Jacobian；Exechon manipulator；