中国机械工程2013，Vol.24Issue(4)：476-481,6.DOI:10.3969/j.issn.1004-132X.2013.04.009
一种新型3-RRRU并联机构及其运动学分析
Structure and Kinematics Analysis of a Novel 3-RRRU Parallel Mechanism
摘要
Abstract
A novel absolutely symmetrical 3 - RRRU parallel mechanism was proposed that can perform three-dimensional translations. Based on the screw theory,the mechanism principles that the mechanism performed the three-dimensional translations were analyzed, the drive input joints were chosen and discussed, the singularity of the parallel mechanism were emphatically analyzed, and the problem that how could the singularities be avoided was discussed. The kinematics model was set up, the analytic solution of the inverse position kinematics was obtained,and using some methods such as coordinate transformation,and variable expansion, the forward position kinematics solution was discussed and proved by use of numerical simulation. Since the 3 -RRRU parallel mechanism is absolutely symmetrical, the mechanism manufacturing is simple and inexpensive,and the singularities can be avoided,the parallel mechanism can be applied in the fields of industrial assembly robots, coordinate measuring machines,material handling devices.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
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刘延斌,底复龑..一种新型3-RRRU并联机构及其运动学分析[J].中国机械工程,2013,24(4):476-481,6.
