一种新型三自由度并联机器人机构运动学及结构参数分析

Analysis of Structure Parameter and Kinematics of a New Type Three Degree of Freedom Parallel Mechanism

提出了一种新型三自由度并联机器人机构,分别给出了其位置分析的正、逆解析解,研究了输入变量对3个输出变量的具体影响,详细分析了输出变量随输入变量的变化趋势,并由此确定了输入变量和输出变量的理想取值范围。研究结果表明该机构结构简单,可实现一平移二转动输出,为该种机构的机械结构设计和运动轨迹控制奠定了良好的基础。

A novel 3 degree of freedom （ 1 - Translation and 2 - Rotation） parallel mechanisms is proposed. The forward solution and inverse solution of the mechanism position analysis are given. The influences of the three input variables on the three output variables are studied, the variation trend of input and output variables are analyzed care- fully and the ideal value ranges of input and output variables are determined by discussing structural parameter. The results show that the mechanism is simple in structure, can realize one translation and two rotation output, and a solid foundation for mechanical structure design and kinematics trajectory control of the mechanism is provided.