一种平面三自由度并联机构设计及其应用  

Design and Application of a 3-DOF Planar Parallel Mechanism

作　　者：刘小波[1] 张进春[1] 倪卫[2] 熊迁[2] 

机构地区：[1]重庆电子工程职业学院,重庆401331 [2]中国工程物理研究院激光聚变研究中心,四川绵阳621900

出　　处：《机械工程师》2012年第4期42-43,共2页Mechanical Engineer

摘　　要：提出了一种3-SPP平面三自由度并联机构。针对该机构先从理论上进行了自由度数计算和运动学分析,然后完成了该机构的结构设计和样机试制,最后在大型激光器的大口径光学元件安装和拆卸中进行机构设计目标验证。实验结果表明,该机构满足设计运动期望,达到了定位精度和可调范围指标,实现了对大口径光学元件位姿的精确调整。A 3-DOF Planar parallel mechanism is proposed in the article.At first the calculation of degrees of freedom and kinematic analysis about the mechanism are researched in theory,then structural design and prototype trial are carried out.Finally the mechanism is verified in the progress of the installation or removal of large-diameter optics in the large-scale lasers.Experimental results show that the mechanism meets the expectations of movement,reaches adjustable positioning accuracy and range of indicators,achieves precision pose adjustment of the large-diameter optics.

关 键 词：3-SPP 并联机构 位姿调整 运动期望 

分 类 号：TH112[机械工程—机械设计及理论]