一种新型三自由度并联机构的奇异性分析  

Singularity Analysis of a New 3-DOF Parallel Mechanism

作　　者：王海东[1] 张永[1] 唐元恒[1] 丁文勇[1] 

机构地区：[1]海军航空工程学院青岛分院,山东青岛266041

出　　处：《机械传动》2011年第6期37-40,共4页Journal of Mechanical Transmission

摘　　要：提出了一种新型三自由度空间并联机构,根据螺旋理论分析了该机构的运动平台只能实现三维移动。利用坐标变换法建立了机构的位置和速度解析方程,并根据正、逆雅克比矩阵系统分析了机构的奇异位形。A new type of spatial parallel manipulator with three degree of freedom is proposed.According to the theory of screw,the moving platform of the parallel manipulator is analyzed.The result shows the platform only realizes three-dimension shift.The position and velocity analytic equation are constructed based on the coordinate transformation,and the singularity analysis of the manipulator is done by the forward and the inverse Jacobian matrix.

关 键 词：并联机构 螺旋理论 雅克比矩阵 奇异位形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]