摘要
针对目前大部分的并联机构工作空间小这一缺点,研究了一种新型的3自由度并联机构。通过约束螺旋理论分析了机构的自由度,该机构具有2个平动自由度和1个转动自由度;进一步用解析的方法研究了该并联机构的运动学正反解;最后给出了该机构运动学的数值算例,为该类并联机构的进一步研究和应用提供参考。
Aiming at very small workspace of the most parallel mechanisms,it presents a 3-DOF parallel manipulator,analyzes the degrees of freedom of Gantry-Tau based on screw theory.It proposes Gantry-Tau with one rotational degree of freedom and two motional degrees of freedom,solves the kinematics of the parallel forward and inverse.Finally,the numerical example shows that the method can provide a reference for further research and application of such parallel mechanisms.
关键词
螺旋理论
并联机构
自由度
运动学分析
Screw Theory
Parallel Mechanism
Degree of Freedom
Kinematics Analysis
