一种三平移并联机器人运动学分析

A kind of kinematical analysis on parallel robot with three translations

通过对(C//R//R)⊥(C//R//R)⊥(C//R//R)机构3条支路的特殊配置从而获得一种完全解耦的并联机构,并使用螺旋理论分析了这种并联机构的机构组成原理,计算了这种并联机构的自由度,判断了机构的主动副位置,并调用仿真软件模拟,进行了自由度的验证,最后对该并联机构进行了位置分析、速度和加速度分析。

By way of a special allocation on three branches of the （C//R//R）⊥（C//R//R）⊥（C//R//R） mechanism this paper obtained a kind of completely decoupled parallel mechanism. By the use of spiral theory the composition principle of this kind of parallel mechanism was analyzed, the degree of freedom of this kind of parallel mechanism was calculated and the position of mechanism＇s driving pair was judged. By applying the emulation software to make a simulation. Verification has been carried out on the degree of freedom and finally the position analysis, velocity and acceleration analysis were carried out on this parallel mechanism.