全解耦并联机构的运动学与工作空间分析

Analyses of Kinematics and Workspace for a 3-DOF Fully De-coupled Parallel Mechanism

研究了一种改进型全解耦一平移两转动并联机构,导出了其运动学的正逆解解析式,并用VisualC++6.0编程计算求得数值解,通过Surfacer软件得到并分析了位置工作空间形状及大小;与原机构在运动学正逆解数、解耦性与位置工作空间形状及大小、驱动等方面进行了比较,证实改进型机构比原机构具有更大、更健壮的位置工作空间且不易产生奇异位置。可使该类机型应用范围更广。

An improved fully de-coupled 3-dof parallel mechanisms with one translational and two rational motions was studied. Close-formed solutions were developed for both the forward and inverse kinematics of the parallel mechanism. The workspace shape and the size of the parallel mechanism were analyzed by numerical calculation. Comparisons of the number of kinematic solutions, decoupling, workspace shape and size between the mechanism and the previous one were made, which showed that the re-designed parallel mechanism could be used more vastly because of its robust and large workspace.