解耦的三平移力反馈机构运动学分析

The kinematic analysis of a decoupled 3-transition force feedback mechanism

提出了一种新型具有三个移动自由度解耦结构的并联机器人,该并联机器人运动平台和静平台之间由三个正交分布的分支相联系,且所有传动副均为转动副。这三个分支正交分布使得该机构的运动平台只有三个称动自由度,且输入、输出运动一一对应。这种机构最突出的优点是:运动副简单,三维移动解耦及运动学分析非常简单。文中讨论了它的自由度,选择了驱动副,给出了其位置、速度正反解。

A kind of new-typed decoupled 3-DOF parallel mechanism wa s put forward.The manipulator consists of a moving platform that is connected to a fixed base by three perpendicular limbs,and all the joints are revolute joint s.Due to the orthogonal arrangement of the three limbs,the moving platform just has three positional freedom and there exists a one-to-one correspondence b etween the input and the output displacements of the manipulator.The outstanding characters of this mechanism are as follows:Firstly,the joints’ structure is s imple secondiy,the transition is decouplod lastiy,the kinematical analysis is ve ry easy.It’ s freedom and the choice of the drive joints was discussed,and the forward resolution and inverse resolution of position and velocity of this mecha nism was presented in this paper.