One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three ...One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.展开更多
基金The National High Technology Research and Development Program of China(863Program)(No.2006AA040202)
文摘One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.
