2T1R并联机构位置及奇异性分析

Analysis of Position and Singularity of a Parallel Mechanism with Three Degrees of Freedom

基于有序单开链单元原理提出了一种两平移一转动(2T1R)并联机构。进行了机构的自由度和运动输出特性分析;同时对机构的位置进行了分析,求出动平台位置的正、逆解析解;并对机构的奇异性进行了研究,讨论了机构的几种奇异位形,通过Matlab软件编程,绘出机构奇异时动平台的位置随姿态的变化情况。

Based on the single-opened-chain（SOC） unit theory,a new parallel mechanism with two translational and one rotational（2T1R）degrees of freedom was put forward.First,the degrees of freedom and the motion output characteristic were analyzed,and then both the forward and the inverse analytical solutions of the moving platform＇s position were obtained.The singular configurations of the mechanism were also discussed;the change of the position with respect to the pose angle in singular configuration was obtained through programming with Matlab software.All the above analysis provides foundation for the further research on properties and dynamics of the mechanism.