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| 1 | Structural Synthesis of a Class of 2R2T Hybrid Mechanisms显示文摘Conventional overconstrained parallel manipulators have been widely studied both in industry and academia,however the structural synthesis of hybrid mechanisms with additional constraints is seldom studied,especially for the four degrees of freedom(DOF) hybrid mechanisms.In order to develop a manipulator with additional constraints,a class of important spatial mechanisms with coupling chains(CCs) whose motion type is two rotations and two translations(2R2T) is presented.Based on screw theory,the combination of different types of limbs which are used to construct parallel mechanisms and coupling chains is proposed.The basic types of the general parallel mechanisms and geometric conditions of the kinematic chains are given using constraint synthesis method.Moreover,the 2R2T motion pattern hybrid mechanisms which are derived by adding coupling chains between different serial kinematic chains(SKCs) of the corresponding parallel mechanisms are presented.According to the constraint analysis of the mechanisms,the movement relationship of the moving platform and the kinematic chains is derived by disassembling the coupling chains.At last,fourteen novel hybrid mechanisms with two or three serial kinematic chains are presented.The proposed novel hybrid mechanisms and construction method enrich the family of the spatial mechanisms and provide an instruction to design more complex hybrid mechanisms. | TIAN Chunxu FANG Yuefa GUO Sheng | 2016 | Chinese Journal of Mechanical Engineering2016，29，4： | 5 |
| 2 | Over-Constraints and a Unified Mobility Method for General Spatial Mechanisms Part 2:Application of the Principle显示文摘The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modern parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the general multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way: over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue: the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering. | LU Wenjuan ZENG Daxing HUANG Zhen | 2016 | Chinese Journal of Mechanical Engineering2016，29，1： | 4 |
| 3 | 一种用于眼内手术的混联机构设计与运动学分析显示文摘为利用机器人实现眼内手术操作所需的远程运动中心(Remote center of motion,RCM)运动模式,提出了一种新型六自由度混联机构(RP+PPRRP/PPRR)。首先受U副结构形式的启发,利用两组RPPRP平面五杆机构单元重构出PPRRP/PPRR并联构型。根据螺旋理论计算该机构的自由度,并分析自由度性质,从而确认机构对RCM运动模式的兼容性。利用坐标变换方法建立机构的正运动学模型以及包含RCM参数(算法)的逆运动学模型。然后基于机构构型,设计、构建了物理样机。最后采用主从控制方式进行物理样机运动实验,验证运动学模型(算法)的正确性以及机构对眼内手术的适配性。 | 杨洋 陈子路 广晨汉 郑昱 林闯 | 2022 | 机械工程学报2022，58，3： | 1 |
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