关键词: 两转两移混联机构, 构型综合, 分形理论, 运动特征

Abstract: From the view of fractal theory and topological graph,a systematic synthesis methodology and a novel analysis approach of two-Translational and two-Rotational (2T2R) hybrid mechanisms were proposed.The basic concept of topological graph and the fractal theory were introduced.The kinematic characteristic and algorithm were expounded,the kinematic characteristic was composed by route,branch and kinematic pair,while the algorithm was comprised of route rule and the calculation rule of union-intersection-preserving.The model between hybrid mechanism and fractal theory was established,and the procedure of type synthesis methodology was concluded in detail.Meanwhile,the three translational hybrid mechanism was synthesized.A method for analyzing the kinematic characteristic of 2T2R hybrid mechanisms was proposed and applied to the synthesized structure by which the validity of the proposed methodology was demonstrated.

Key words: hybrid mechanism, type synthesis, fractal theory, two-translational and two-rotational