一种3-P⊥R//R⊥4r型解耦三维平移并联机构及其位置计算

A kind of 3-P⊥R∥R⊥4r typed decoupling 3D translation parallel mechanism and its computation of positions

基于以单开链为单元的并联机构组成原理,设计构造了一种动平台能实现空间三维纯移动的并联机器人机构,进行了机构运动确定性分析及运动输出特性分析;用简易坐标投影法计算了其位置分析的正、逆解析解。该机构仅由转动副组成,便于制造安装,动力综合性能好;为并联机器人、虚轴机床及坐标测量机提供了新型实用机型。

Based on the mechanism that takes the parallel robotic mechanism composition principle of parallel single-opened-chain as a unit, the that could achieve pure displacement in 3D space with a kind of moving platform has been designed and constructed. The motion qualitative analysis of mechanism and characteristics analysis of motion output were carried out. The forward and inverse analytical solutions of its positional analysis were computed by the use of simple and easy eoordina tire projection. This mechanism is only composed of rotation pairs, which are convenient for manufacturing and assembling and good in synthetic motive-power property, thus provided a new styled practical model for parallel robot, virtual axle ma chine tool and coordinates measurement machine.