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中文摘要：
应用基于方位特征集的并联机构拓扑结构设计理论与方法，对两转动（OT-2R）输出的并联机构进行了型综合；在阐述基于方位特征集的并联机构型综合一般过程和步骤的基础上，给出了两转动输出并联机构拓扑结构设计的具体方法，综合得到了14种两转动输出并联机构，其中，6种机构为该方法综合得到，然后按它们的结构特性进行了初步分类，并将优选的一种两转动并联机构用于太阳能二轴跟踪机构的研制。该型综合方法运算规则少，数学方法简单，几何与物理意义明确，适用于所有无过约束和一般过约束机构。
英文摘要：
Using topological structure synthesis method based on POC set,the type synthesis for 2--rotation parallel mechanisms was studied. Based on the introduction to general process and steps for type synthesis of parallel mechanisms, concrete operation methods of topological structure design of a 2--rotation parallel mechanism was given and 14 kinds of a 2--rotation parallel mechanisms were synthesized,6 kinds of which were presented for the first time. These parallel mechanisms were classi- fied based on the structure characteristics and an optimized 2--rotation parallel mechanism was used for solar tracking mechanism. This method has few calculation rules, simple mathematics operation and definite geometrical meaning and physical meaning and is applicable for both topological structure synthesis of non--over--constrained and generally over--constrained mechanisms.
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