运动解耦机理分析与解耦关节设计

分析了运动解耦机理,提出了只有结构解耦才能方便地做到运动解耦,给出了结构解耦的条件:所有回转轴线交于一点,前面的转动使得有关回转轴线的位姿发生变化,后面的转动按照已经发生变化的回转轴线转动,即保证杆的长度不发生变化和杆的回转中心不发生平移。在此基础上,设计了一种三自由度运动解耦液压伺服关节。

Motion decoupling mechanism was analyzed. The idea, which only structural decoupling can implement the motion decoupling, was presented. The structural decoupling conditions, of i.e. all rotation axes were intersectant, and the posterior rotation was making round of the anterior rotation axis that its position and pose had changed, that is, the rotation center and the length of links were guaranteed not to be changed. On the basis, a novel decoupling hydraulic servo joint with three degrees of freedom is designed.

江苏省高等学校自然科学基金资助项目(03KJB460161)