新型纯移动并联机构的运动学和灵巧性分析

Kinematics and Dexterity Analysis of a Novel Pure Translational Parallel Manipulator

提出一种新型的具有拓扑对称结构的空间移动并联机构,其3条分支中各含有一个平行四边形结构。利用螺旋理论对该机构的活动度及类型进行分析,给出机构的位置正、逆解析解,推导出映射机构主动关节输入速度矢量和动平台输出速度矢量关系的雅可比矩阵,并对机构的灵巧性进行分析。由于机构输入-输出速度间存在一对一的控制关系,所以机构具有完全解耦性。该机构在并联机床、医用机器人等领域有潜在的应用前景。

A novel spatial translational parallel manipulator with fully-symmetrical topological structures was presented.A parallelogram was used in each limb of the manipulator.The mobility and its type of the manipulator were analyzed based on screw theory.The forward and the inverse position problems of the mechanism were investigated respectively.The Jacobian matrix,mapping the input velocity vector of the actuated joints into the output velocity vector of the moving platform,was derived.The dexterity of the manipulator was analyzed.There existed one-to-one corresponding relationship between the input and output velocities,so the kinematics of the manipulator was fully decoupling.The mechanism proposed has widely potential applications in virtual parallel machine tool,medical robots.