引用本文: 韩先国, 陈五一. 基于运动约束解过约束并联机构变形协调方程[J]. 力学与实践, 2005, 27(3).
THE METHOD TO SOLVE THE COMPATIBILITY EQUATION OF DISTORTION OF OVER CONSTRAINT PARALLEL MANIPULATOR BASED ON KINEMATIC CONSTRAINT[J]. MECHANICS IN ENGINEERING, 2005, 27(3).
 Citation: THE METHOD TO SOLVE THE COMPATIBILITY EQUATION OF DISTORTION OF OVER CONSTRAINT PARALLEL MANIPULATOR BASED ON KINEMATIC CONSTRAINT[J]. MECHANICS IN ENGINEERING, 2005, 27(3).

## THE METHOD TO SOLVE THE COMPATIBILITY EQUATION OF DISTORTION OF OVER CONSTRAINT PARALLEL MANIPULATOR BASED ON KINEMATIC CONSTRAINT

• 摘要: 提出利用运动约束关系来间接求解过约束并联机构变形协调方程. 首先介绍了该方法的原理，接着分别针对平面和空间过约束并联机构，详述该方法的解决步骤，结果验证了该方法的正确性，从中还可看出该方法在求解复杂过约束并联机构时非常简洁，最后介绍了采用该方法解决多度过约束问题.

Abstract: The main task of mechanical analyses on over constraintmechanism is the solution of the compatibility equation of distortion, but itis difficult to obtain the solution directly because its direct kinematics is not completely established. A method to solve the compatibility equation ofdistortion indirectly is put forward based on the kinematic constraint relation. Theprinciple and the complete procedures about theplanar and the space mechanisms are given, respectively. The resultsshow that the method is effective especially for complicatedover constraint parallel manipulator. At last, how to use the method to solvethe multi-degree over constraint mechanism is discussed.

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