一种新型解耦二腿三维平移并联机构及其运动分析

A Novel Decoupled 2-Limb 3-Translation Parallel Mechanism and its Kinematic Analysis

基于以单开链为单元的并联机器人机构组成原理,设计了一种动平台能实现空间三维纯移动的二腿并联机器人机构,对其进行了机构运动确定性分析、运动输出特性分析;还给出了其位置分析的正、逆解析解及速度解析解,讨论了该机构的输入-输出运动解耦性。

A novel decoupled 2-limb parallel robot mechanism with 3-dimension translation was synthesized and investigated according to the structural theory of parallel mechanisms based on the units of the single-opened-chain limb.First,the structural characteristics analysis for the parallel mechanism including mobility analysis and motion output analysis was addressed;then the closed-formed analytic solutions were developed for both the forward and inverse position as well as the velocity,moreover,input-output motion relationship was also discussed.The analysis work provided a solid foundation for kinematics,dynamics,mechanical structural design and potential industrial application of the novel parallel robot mechanism.