一种特殊的3-UPU并联角台机构的运动分析  

Kinematical analysis on a special 3-UPU truncated pyramid parallel mechanism

作　　者：李仕华[1] 黄真[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计》2005年第7期16-19,共4页Journal of Machine Design

基　　金：国家自然基金资助项目(50075074)

摘　　要：分析了一种特殊的三自由度3-UPU并联角台机构(支链移动副两端转动副相互垂直)的若干运动学问题。利用虚设机构法导出了机构在初始位形下和沿X轴移动时的一阶综合影响系数矩阵,建立了动平台输出速度与输入速度之间的关系,并绘制了速度和加速度的曲线图。研究结果对该并联机器人的设计及应用都具有重要的意义。A number of kinematics problems of a special 3-DOF truncated pyramid parallel mechanism (the moving pair of branch chain and rotation pair at both ends are mutually perpendicular) were analyzed. By the use of imaginary mechanism method, the first-ordered synthetic effect coefficient matrix of the mechanism under the status of primary configuration and a translation along x-axis was derived. The relationship between out-put velocity and in-put velocity of moving platform was established, and the graphs of velocity and acceleration curves were plotted. The researching result of this paper possesses important significance on the design and application of this parallel robot.

关 键 词：空间并联机构 虚设机构法 运动分析 

分 类 号：TH13[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]