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中文摘要：
基于构型演变和李群理论提出一类2T2R型四自由度并联机构型综合的系统方法。将6R平面机构某构件两端的R副替换为U副,并添加2条具有六自由度的支链SPS,演变成一个空间并联机构2RRU-2SPS;运用李群理论,综合出等效支链,构造一类2T2R型四自由度并联机构。对一种新型2RPU-2SPS机构,运用单开链法进行自由度的计算和主动副的选取,结果表明所提出的型综合方法正确可行。
英文摘要：
Based on configuration evolution and Lie group theory a systematic approach for type synthesis of 2T2R 4-DOF parallel mechanism was proposed.Firstly,a 6R planar mechanism was evolved into spatial parallel mechanisms 2RRU2SPS by replacing R pairs with the U pairs at both ends of the link and adding to two SPS branched chains with 6-DOF.Secondly,the equivalent branched chains were identified on the basis of Lie group theory and a family of 2T2R parallel mechanism was synthesized.Finally the calculation of DOF and the selection of active pairs of a novel 2RPU2SPS parallel mechanism were performed by a single opened chain method and the result shows that the method of type synthesis proposed here is correct and feasible.
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A new method for the determination of the zero velocity region of the Karnopp model based on the sta
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