一种新型三维平动并联机构及其位置分析  

A Novel 3-DOF Translational Parallel Mechanism and Its Position Analysis

作　　者：曾达幸[1] 黄真[1] 侯雨雷[1] 

机构地区：[1]燕山大学,秦皇岛066004

出　　处：《中国机械工程》2008年第2期239-241,251,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275129)

摘　　要：对一种新型的三平动自由度并联机构3-PRUR进行了研究。首先,使用螺旋理论确定了该机构的自由度和可能的运动;然后,根据机构的特点求得该机构的位置反解;接着使用Bezout消元法求得该机构的位置正解;最后,提供了一个数值实例,该实例证明了位置正反解的正确性。A novel 3-DOF parallel mechanism that can perform three-dimensional translations was investigated herein. At first,the degree-of-freedom and possible motion were defined by using screw theory. Then closed-form inverse displacement solutions were obtained based on the characteristics of the parallel mechanism and the forward displacement problem was analyzed by using the Bezout＇ s elimination method. At last, a numerical example was given in order to prove the correctness of the inverse and forward displacement solutions.

关 键 词：并联机构 螺旋理论 位置反解 Bezout消元法 位置正解 

分 类 号：TH112[机械工程—机械设计及理论]