一种特殊3-UPU并联平台机构瞬时运动特性

Kinematic Characteristics of a Special 3-UPU Parallel Platform Manipulator

利用反螺旋和主螺旋的方法分别研究了一种特殊3-UPU并联平台机构上下平台平行时的瞬时运动特性。得出该机构在上下平台平行时,机构具有沿坐标轴轴线方向的移动和以x、y坐标轴轴线或其平行的直线为轴线的转动,是三自由度机构。绘制了上下平台平行时所有运动螺旋的空间分布图。研究结果丰富了欠秩三自由度并联机构的理论,对机器人的控制以及轨迹规划等诸多问题都有很重要的意义。

This paper discussed kinematic characteristics ot a special 3-UPU parallel pyramid manipulator by using two different principals, in every branch two middle revolution pairs were perpendicular to each other. This mechanism has one instantaneous translational degree of freedom and two rotational degrees of freedom, as its moving platform and base being parallel to each other, the mechanism only has three DOF, The three-dimensional distribution of kinematic screws were drawn. All of the results are useful for enriching the mechanism theory and should be applied in the mechanism design.