一种2R1T空间并联机构及其位置分析

Structure and Position Analysis of 2R1T Spatial Parallel Mechanism

介绍了一种能实现一维平动和二维转动(2R1T)空间并联机构。首先,运用螺旋理论分析了该并联机构实现2R1T运动机构学原理,计算出该机构的自由度;然后,建立该并联机构的位置方程,解出其位置正、逆解;最后,通过一组数值实例验证了位置正逆解的正确性。该机构是由3条完全相同支链组成的并联机构,结构比较简单,是对S类并联机构的重要补充,可应用于工业机器人、并联机床、位姿调整器和少自由度微型模拟器等领域。

A kind of 2R1T spatial parallel mechanism is instroduced. According to the screw theory, the two--dimensional rotation and one--dimensional translational of this mechanism is achieved and the DOF of the mechanism is calculated. Through establishing the parallel mechanism location equation, the position solution is obtained. At last, a numerical example is given to prove the correctness of the position analysis. The parallel mechanism replenishes S parallel mechanism family , whose three branches are uniform and structure is simpler and the parallel mechanism can be applied in the fields of industrial robots,parallel machine tools,posture adjuster and less degrees of freedom micro-- simulator.