中南大学学报（自然科学版）2017，Vol.48Issue(5)：1190-1197,8.DOI:10.11817/j.issn.1672-7207.2017.05.010
3-CRR型并联机构运动学与奇异性分析
Kinematics and singularity analysis of 3-CRR parallel mechanism
摘要
Abstract
A classical parallel 3-CRR mechanism with 3 degrees of freedom was presented, and its forward and inverse kinematics were derived respectively. Furthermore, the workspace was studied and illustrated graphically. The relationship between the force applied on the moving platform and the resultant force on the active joints was studied by the principle of virtual work. The infinite norm of the transpose of the Jacobin matrices was defined as the index to evaluate the capacity of carrying and the kinematic accuracy of 3-CRR parallel mechanism. The restricted positions where the index is over the allowable value is found, and then the trajectory can be singularity free by keeping away from these restricted positions. The work is very meaningful and useful for the design and synthesis of the other parallel mechanisms.关键词
并联机构/工作空间/奇异/虚功原理Key words
parallel mechanism/workspace/singularity/principle of virtual work分类
机械制造引用本文复制引用
刘知辉,牛军川,周一群..3-CRR型并联机构运动学与奇异性分析[J].中南大学学报（自然科学版）,2017,48(5):1190-1197,8.基金项目
国家自然科学基金资助项目(51275275,51675306) （51275275,51675306）
山东省优秀中青年科学家科研奖励基金资助项目(BS2010ZZ006) (Projects(51275275, 51675306) supported by the National Natural Science Foundation of China （BS2010ZZ006）
Project(BS2010ZZ006) supported by the Shandong Young Scientists Award Fund) （BS2010ZZ006）
