南京航空航天大学学报2025，Vol.57Issue(3)：451-458,8.DOI:10.16356/j.1005-2615.2025.03.006
一种无伴随运动的并联机构运动学分析
Kinematic Analysis of Parallel Mechanism Without Parasitic Motion
摘要
Abstract
For a type of prismatic-joint revolute-joint universal-joint-2 prismatic-joint revolute-joint universal-joint pc-joint(PRU-2PRUPc)parallel mechanism without parasitic motion,the kinematics analysis is performed.Firstly,the analysis of degrees and parasitic motion of PRU-2PRUPc parallel mechanism are carried out based on screw theory.Secondly,the analytical solution of the motion kinematics is deduced,and the positive solutions are obtained using particle swarm optimization algorithm,verifying the correctness of the inverse solution,and using Adams for kinematics simulation verification.Thirdly,the singularity analysis of the mechanism is performed based on screw theory,and the singularity of the input and output are obtained.Finally,the analysis of the mechanism is performed based on motion/force transmission indices,and the performance of the parallel mechanism are plotted,laying a theoretical foundation for subsequent optimization and application.关键词
并联机构/螺旋理论/奇异位型/传递指标/伴随运动Key words
parallel mechanism/screw theory/singularity/transmission indices/parasitic motion分类
机械制造引用本文复制引用
叶凡,王凯,吕贤海,曹毅..一种无伴随运动的并联机构运动学分析[J].南京航空航天大学学报,2025,57(3):451-458,8.基金项目
国家自然科学基金(52175234) （52175234）
高等学校学科创新引智计划(B18027). （B18027）
