中国机械工程2011，Vol.22Issue(19)：2307-2311,5.
一种新型3-RPR并联机构及其运动学分析
Structure and Kinematics Analysis of a Novel 3-RPR Parallel Mechanism
摘要
Abstract
A novel 3-RPR parallel mechanism was proposed,that can realize two-dimensional translations along Y,Z-axis and rotation about X-axis.Based on screw theory,the principles in accordance with which the parallel mechanism realized the above 3-DOF motions were analyzed,the mobility of the parallel mechanism was calculated,and the drive input joints were chosen and discussed,the motion singularity was analyzed and the parameter design conditions were presented to decrease motion singularity.By means of multi-body system kinematics theory,the kinematics equations of the parallel mechanism were set up,the forward and inverse position kinematics solutions were discussed and validated using numerical simulation.Finally,the workspace of the parallel mechanism was analyzed.The 3-RPR parallel mechanism replenishes 2T1R parallel mechanism family,whose three branches are uniform,and structure is semi-symmetric and simpler,and the parallel mechanism can be applied in the fields of industrial assembly robots,posture adjusters,parallel machine tools,work platforms.关键词
并联机构/运动学/奇异性/螺旋理论Key words
parallel mechanism/kinematics/singularity/screw theory分类
机械制造引用本文复制引用
刘延斌,韩秀英,郭志佳,贾新杰..一种新型3-RPR并联机构及其运动学分析[J].中国机械工程,2011,22(19):2307-2311,5.
