一种三自由度并联解耦机构的构型与运动学分析  

Configuration and Kinematics Analysis of a Three Degree-of-Freedom Parallel Decoupling Mechanism

作　　者：郑建勇[1] 李为民[2] 史金飞[1] 王文凯[1] 

机构地区：[1]东南大学机械工程学院,南京211189 [2]河北工业大学机械工程学院,天津300130

出　　处：《机械科学与技术》2008年第7期891-895,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50475055)资助

摘　　要：针对一种具有运动解耦特性的三自由度并联机构,首先介绍了平动解耦构型的基本思想,并采用了一种基于运动副的机构构型方法,对机构进行了构型分析。该机构由3个正交分布的支链组成,机构的运动副均为转动副,其动平台在X、Y、Z这3个方向平动解耦。对机构进行了自由度和运动学分析,推导了机构的运动学正/反解、输入/输出的速度和加速度,验证了机构的运动解耦特性。最后,基于机构的运动解耦特性,介绍了该机构在一种新型4-DOF串并联机器人试验样机中的应用。One type of three degree-of-freedom（3-DOF） translational parallel decoupling mechanism＇s configuration is studied, which has been obtained from the movable pair-analysis method. The mechanism has three orthogonal distributional branch-chains; all its movable pairs are rotational joints; and its movable-platform has X, Y, Z three translational deeoupling directions. Its freedom and kinematics are also studied according to the parallel mechanism characteristics. The direct and inverse kinematics are solved, and its input/output speed and acceleration are determined and they confirm its deeoupling movable characteristics. Finally, in view of the meehanism＇s movable deeoupiing characteristics, the meehanism＇s application to a novel 4-DOF series-parallel robot prototype is presented.

关 键 词：三自由度并联机构 构型 运动学 解耦 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]