一种三自由度并联稳定平台机构的位置与工作空间分析  

Position and Workspace Analysis of a 3-DOF Parallel Stable Platform Mechanism

作　　者：常兴[1] 刘安心[1] 房立丰[1] 杨廷力[2] 

机构地区：[1]解放军理工大学工程兵工程学院,江苏南京210007 [2]金陵石化公司,江苏南京210042

出　　处：《机床与液压》2012年第23期22-24,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(50875261)

摘　　要：根据并联机器人机构结构综合理论,提出一种能够实现空间一平移两转动的三自由度并联机构。以单开链单元和方位特征集理论为基础,对机构进行拓扑结构特征的分析和位置分析,建立了位置正逆解的方程,然后进行了解耦性和奇异位形的分析,最后对其工作空间进行分析。该机构易于控制和轨迹规划,在船舶稳定平台等领域有良好的应用前景。According to theory of the structure type synthesis of parallel robot mechanism, a spatial 3-DOF parallel mechanism with ability of realizing one translation and two rotation was proposed. Based on SOC unit and theory of POC matrix, a topology struc- ture characteristics analysis and position analysis were given. Its forward and inverse position solution equations were established. And the decoupling analysis and singular configuration analysis were also given. There was a workspace analysis at last. This mechanism is easy to control and plan trajectory, with a good prospect in applications of ship stable platform and etc.

关 键 词：并联机构 位置分析 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]