一种新型3T1R并联机构的设计及其运动学分析  

Design and Kinematics Analysis of a Novel 3T1R Parallel Mechanism

作　　者：张震[1] 沈惠平[1] 尹洪贺 许可[1] 李家宇[1] 杨廷力[1] 

机构地区：[1]常州大学现代机构学研究中心,江苏常州213016

出　　处：《常州大学学报（自然科学版）》2017年第5期57-67,共11页Journal of Changzhou University：Natural Science Edition

基　　金：国家自然基金项目(51475050;51375062);江苏省重点研发计划项目(BE2015043)

摘　　要：基于方位特征(POC)的并联机构设计理论,提出了一种新的SCARA型并联机构,分析计算出该机构的耦合度k=1。根据基于序单开链法的机构运动学建模原理,分别给出该机构位置正反解的求解算法,并通过数值算例验证了其正确性。基于导出的机构的位置反解,分析了该并联机构的工作空间,分析结果表明:该机构具有全对称性,工作空间大的特点。研究结果为该机构的样机设计及应用奠定了理论基础。Based on the position and orientation characteristic（POC）of the parallel mechanism design theory,a novel SCARA type parallel mechanism is proposed,the coupling degree of the mechanismk=1is calculated.Then,according to the modeling principle of kinematic of the mechanism based on ordered SOC,the solution algorithm of the forward and inverse position of this parallel mechanism are derived,and an numerical example is provided to confirm the correctness of the solution procedure.Finally,based on the inverse position solutions of the mechanism,the working space of this parallel mechanism is obtained.Analysis results show that this parallel mechanism has characteristics of full symmetry and large working space.These research results provide a theoretical foundation for the prototype design and application of this mechanism.

关 键 词：并联机构 方位特征 耦合度 运动学分析 位置正反解 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]