一种新型的三自由度3-RRRRR并联平台机构及其位置分析  

A kind of new typed three-DOF 3-RRRRR parallel platform mechanism and its position analysis

作　　者：李仕华[1] 吴建广[1] 黄真[1] 高峰[2] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]河北工业大学,天津300130

出　　处：《机械设计》2004年第3期37-40,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目 (50 0 750 74)

摘　　要：提出一种新型的 3 -RRRRR并联机构 ,并建立了其位置反解方程。首先用反螺旋分析了 3 -RRRRR并联机构在初始位置下和在一般情况下的瞬时运动特性。得出该机构在初始位置下和在一般情况时 ,机构有沿x、y、z轴方向的三个移动自由度 ,即初始位置下发生移动后 ,该机构还有 3个移动自由度。其次用D-H法给出了主动输入 (θ1)与动台位姿的关系 ,给出了该机构的位置反解公式 ,并进行了验证 ,绘制了工作空间的形状。该机构可进一步作为微动机构应用。A kind of new-typed 3-RRRRR parallel mechanisms was put forward, and the inverse resolution equation of its position was established. Firstly, utilizing the reverse screw, the characteristics of instantaneous motion of 3-RRRRR parallel mechanisms under its initial position and under the general condition were analyzed. It has been obtained that under the initial position and under the general condition, this mechanism possesses three moving DOF along the directions of x,y,z axes, namely after a shift happened under the initial position, this mechanism still possesses three moving DOF. Secondly, the relationship between active input (θ 1) and posture of the moving platform was given out by the use of D-H method. The positional inverse resolution equation of this mechanism was presented, verification was carried out and the shape of working space had been drawn up. This mechanism could be further applied as a jogging mechanism.

关 键 词：并联机构 反螺旋 位置分析 瞬时运动特性 并联机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]