一种三滑块驱动平面并联手及其工作空间与位移特性分析

Working Space and Motion Characteristics Analysis for a Novel Planar Parallel Manipulator with Three Driving Sliders

提出并设计一种简易实用三滑块在两个平行导轨上驱动的三自由度平面并联操作手,推导了该机构运动学正反解解析公式,分别分析了末端执行器在定位置和定姿态情况下的工作空间,仿真分析了定姿态时三滑块的运动规律及特性,并建立了三维模型。研究结果为该三自由度并联操作平台的实时控制及工业应用奠定了基础。

A novel practical planar parallel mechanism with three slides driving on the two guide rails was proposed and designed,and the positive and negative solutions were deduced.The working spaces analysis for the end-effector was conducted when it was in given position and orientations.The simulation of motion regulations and characteristics of actuator of the mechanism were also completed when it was in given orientation.A virtual prototype was also set up,which is useful for real-time control and industrial applications of this 3-DOF parallel manipulator.