无奇异完全各向同性2T1R型并联机构的结构综合

Structural Synthesis of Singularity-free Fully-isotropic Parallel Mechanisms with 2T1R-type

提出了无奇异各向同性三自由度2T1R空间并联机构结构综合的一种系统方法。得到了24种新型无耦合并联机构方案和24种完全各向同性并联机构方案。在整个工作空间内,完全各向同性并联机构的主动副速度与动平台速度之间的线性映射雅可比矩阵为3×3阶单位阵,因此机构不存在奇异现象。由于无耦合并联机构和完全各向同性机构实现了主驱动器与动平台速度的一一对应关系,从而解决了并联机构控制难的问题。给出了完全各向同性2T1R并联机构支路的构造设计原则。

A systemic method of structural synthesis was presented, which was used to achieve singularity-free fully-isotropic three-degrees-of-freedom spatial parallel mechanisms with 2T1R -type. 24 novel uncoupled and 24 fully-isotropic solutions are obtained. The Jacobian matrix linear mapping velocity vector space of the actuators and the moving platform of the fully-isotropic parallel manipulators proposed herein is the identity 3 × 3 matrix throughout the entire workspace, so all the mechanisms are singularity-free. The difficulty of control problem of parallel manipulators was resolved because there existed a one-to-one corresponding relation between the velocity space of actuated joints and the velocity space of moving platform. Moreover, design principles of limbs for the fully- isotropic parallel mechanism were explored.