基于螺旋理论的3-RSR等效2R1T并联机构型综合

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-04-23 DOI:10.1016/j.mechmachtheory.2025.106032

Ziming Chen , Xianwen Kong , Chen Zhao , Zhen Huang

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引用次数: 0

摘要

本文系统地综合了一类具有两个转动和一个平移（2R1T）自由度的并联机构，其运动等效于3-RSR （R和S分别是转动关节和球面关节的缩写）。基于并联虚拟链和子链替换方法，设计了3类具有不同对称特性的分支。利用这些分支设计的永磁机构可以打破原来3-RSR永磁机构运动平台和基座必须在所有旋转轴所在的中间平面上对称的约束。因此，移动平台和旋转轴之间的关系可以更加灵活。这种增加的灵活性增强了3-RSR等效pm在指向机构，康复机器人，运动模拟器，医疗机器人等领域的适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Type synthesis of 3-RSR equivalent 2R1T parallel mechanisms based on screw theory

This paper systematically synthesizes a family of parallel mechanisms (PMs) kinematically equivalent to the 3-RSR (R and S are short for revolute joint and spherical joint, respectively) PM with two rotational and one translational (2R1T) degrees of freedom (DOFs). Based on the parallel virtual chain and subchain replacement methodology, three classes of branches with different symmetry characteristics are designed. The PMs designed by these branches can break the constraint of original 3-RSR PM that the moving platform and the base must be symmetrical about a mid-plane where all axes of rotation lie. Consequently, the relationship between the moving platform and the axis of rotation can be more flexible. This increased flexibility enhances the applicability of the 3-RSR equivalent PMs in fields such as pointing mechanisms, rehabilitation robots, motion simulators, medical robots.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry