针对轨道式起重机大车行走机构运行效率低、自重大和整机较高等问题，在对传统大车构成原理分析的基础上，采用运动链再生创新设计法对大车行走机构进行结构优化.首先利用胚图插点法对大车行走机构一般化后的运动链进行综合，得到了16种运动链图谱.随后根据大车行走机构的拓扑结构要求，在图谱中对至少具有2个三副杆且其一连接3个二副杆的运动链图进行筛选，得到了满足构型要求的3种运动链.最后为满足轮压均载的需求，优选了一种最佳方案，即含有连杆均载机构的新型三轮大车行走机构.结果表明，相比同规格传统机构，新型大车机构样机降低了机构质量与设计高度.此外，该方案还可进一步推广至四轮大车行走机构中.
This paper proposed a novel rail mounted three-wheel gantry to improve the structure of traditional rail mounted gantry with larger weight and higher height by the regenerative kinematic chain method. Firstly, 16 kinds of kinematic chains for three-wheel gantry were obtained by embryo graph vertex insertion method. Then according to the topological requirements of mechanism, three kinds of kinematic chains with at least two three-kinematic-pairs and one of these connects three two-kinematic-pairs was screened from above chains. Finally, the best chain was chosed based on the principle of equilibrium wheel load, a novel three-wheel gantry with balancing-linkage mechanism was obtained. The results show that compared with the traditional gantry in same specifications, the weight and design height were reduced in the prototype gantry with new topological graph. Additionally, the new topological graph could be further used in the four-wheel gantry.
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