一种3-SRR-URR-URS空间并联机构的运动学分析

Kinematic synthesis of a spatial parallel manipulator with two rotational degrees of freedom and one translational degree of freedom

对一种3-SRR-URR-URS空间并联机构进行了运动学分析。该并联机构由多个闭环支链组成,不仅结构简单、无过约束、自由度少,而且对机构的控制和标定也容易实现。运用螺旋理论分析出该机构的自由度为3,即动平台有3个自由度,分别绕X轴、Y轴转动和Z轴移动。采用几何法对其进行运动学位置逆解分析,从而求出该并联机构的运动学逆解。最后,利用编程和机构的逆解仿真出该并联机构的工作空间。此研究为3-SRR-URR-URS空间并联机构的应用奠定了理论基础。

A spatial 3-SRR-URR-URS parallel manipulator is presented.Firstly,the composition of such a parallel manipulator with some closed-loop chains were analyzed,and this mechanism not only has the advantages of simple structure,not over-constrained,less degrees of freedom（DOF）,but also can be controlled and calibrated easily.Secondly,the analysis based on the screw theory shows that the moving platform has three DOFs,namely,two degrees of rotational freedom with Xaxis and Yaxis and one degree of translational freedom with Zaxis.This inverse kinematics of parallel mechanism was achieved by using the geometric method.Finally,by programming and inverse kinematics,the workspace of the parallel manipulator was simulated.This study of kinematic synthesis of the Parallel Manipulator lays a theoretical basis for its application.