外文翻译--一种为机器工具服务的概念上发展的改进三脚架机制英文版.pdf

ARTICLE IN PRESS Robotics and Computer-Integrated Manufacturing 21 (2005) 318–327 /locate/rcim Conceptua ldevelopment of an enhanced tripod mechanism for machine too Dan Zhanga,, Lihui Wangb aFaculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada L1H 7K4 bIntegrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario, Canada N6G 4X8 Received 14 September 2004; received in revised form 29 October 2004; accepted 3 November 2004 Abstract In this paper, a spatia lthree degrees of freedom para e lmechanism enhanced by a passive leg is proposed. The proposed para e mechanism can be used in severa lapplications, e.g. motion simulator, micromanipulator and machine tools. First, the geometric mode lof the three degrees of freedom para e lmechanism is addressed, in which a fourth kinematic link—a passive link connecting the base center to the platform center—is introduced. This last link is used to constrain the motion of the platform to only three degrees of freedom, i.e. the degree of freedom of the mechanism depends on the passive leg. The passive leg also enhances the globa stiffness of the structure and distributes the torque from machining. Second, the kinematic analysis with the consideration of link flexibility is conducted. A kinetostatic mode lof the three degrees of freedom para e lmechanism with a passive link is then established and analyzed using lumped-parameter model. With the proposed method, a significant effect of the