一种新型并联机构的运动学分析

Kinematics Analysis of a New Parallel Mechanism

该机构由动平台、静平台、上折页、下折页和作动器构成,动平台与上折页以球副连接,上下折页、下折页与静平台、作动器与静平台以及作动器与上折页以转动副连接。其中上下折页和作动器组成一组支链,支链内部也形成闭环,且由三组对称的支链构成这种折页式三自由度并联机构。为了获得该并联机构的运动学参数变化和奇异性,运用支链坐标系的方法,对该机构的每一个构件都做了详细的运动学分析,并且获得了该系统的雅克比矩阵和各构件的运动学参数。通过对雅可比矩阵的分析,获得了该机构的奇异空间。

The mechanism consists of moving platform, fixed platform, upper folds, subjacent olds and actuators. Moving latform and upper folds are connected by all joint. Upper folds and subjacent folds, subjacent folds and fixed platform, upper folds and actuators, actuators and fixed platform are connected by revolute joint. And then upper folds, subjacent folds and actuators constitute one of branch chains. Each of branch chains is symmetrical and forms the closed loop.