三种无内部奇异的平面冗余驱动并联机构及其性能分析

Structure and Performance of Three Novel Planar Three Degree-of-Freedom Redundantly Actuated Parallel Mechanisms without Inside Singularity

提出了4-RPR型、4-RRR型、4-PRR型等三种新型无内部奇异的平面三自由度冗余驱动并联机构。运用螺旋理论分析了各机构的运动自由度,讨论了工作空间内部的非奇异性及其参数条件,建立了运动学模型,通过数值方法获得了各机构的定姿态工作空间,并通过数值仿真分析了各机构的可操作度性能指标,结果表明这三种并联机构的工作空间内部均无奇异,且具有良好的运动灵活性。

The novel planar three degree-of-freedom redundantly actuated parallel mechanisms such as 4-RPR, 4-RRR, 4-PRR were proposed Based on the screw theory, degree of freedom of every mechanism was analyzed, inside non-singular characteristics and its parameter conditiorts of every mechanism were discussed, kinematics model of every mechanism was set up, constant-orientation workspace of every mechanism was obtained by use of numerical method, and maneuverability of every mechanism was analyzed by use of numerical simulation. The results show that everyone of the three parallel mechanisms hasn＇t inside singularity, and has good motion flexibility.