机械与电子2026，Vol.44Issue(1)：52-57,6.
具有部分运动输入-输出解耦性的并联机构的设计与分析
Design and Analysis of Parallel Mechanisms with Partial Motion Input-output Decoupling
摘要
Abstract
To address the problem of complex derivation process for forward and inverse kinematic so-lutions in existing mechanisms,a 3T1R spatial parallel mechanism with partial motion decoupling and sim-plified derivation procedures is designed.This study accomplishes the following main contributions:analy-sis of the orientation feature set and degrees of freedom of the mechanism;verification of its capability to a-chieve three-translation and one-rotation motion output,and establishment of the forward and inverse kinematic equations.The computational processes for both forward and inverse solutions are relatively straightforward.The correctness of the derived equations is validated through numerical examples,demon-strating the partial motion input-output decoupling characteristics.Based on the inverse kinematic equa-tions,the reachable workspace of the parallel mechanism was obtained,and the results showed that the workspace was well-shaped,symmetry and sufficiently large.The kinematic analysis was performed using SolidWorks and ADAMS software,yielding graphs of positional and angular angle variations,which indi-cate favorable kinematic performance of the mechanism.关键词
并联机构/三平移一转动/正逆解/工作空间Key words
parallel mechanism/three-translations and one-rotation/forward and inverse solutions/workspace kinematics分类
机械制造引用本文复制引用
王宏,王芸,邓娜娜,张佳..具有部分运动输入-输出解耦性的并联机构的设计与分析[J].机械与电子,2026,44(1):52-57,6.基金项目
新疆维吾尔自治区科技厅项目(2024D01A49) （2024D01A49）
