3-PU^＊U^＊型平动并联机构的运动学分析  

Kinematics Analysis of 3-PU*U* Translational Parallel Manipulator

作　　者：吴光中[1] 李剑锋[1] 费仁元[1] 刘德忠[1] 管长乐[1] 杨小勇[1] 

机构地区：[1]北京工业大学机械工程及应用电子技术学院,北京100022

出　　处：《中国机械工程》2004年第9期816-819,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 ( 69885 0 0 1;60 2 75 0 3 1);北京市先进制造技术重点实验室开放基金资助项目(KP0 10 0 2 0 0 2 0 1)

摘　　要：研究 3-PU U 型平动并联机构的运动学分析问题。通过将该机构简化成运动等效的机构模型 ,得到其位置逆解公式及描述机构输入与输出速度关系的逆雅可比 ,并进一步对 3-PU U 并联机构作业空间的几何性质、机构的运动灵活性进行了分析 ,给出了尺度参数变化对机构作业空间及运动灵活性的影响规律。分析表明 ,该机构具有几何形状规则的作业空间及较好的运动灵活性 。This paper present kinematics analysis of a 3-PU*U* translational parallel manipulator. Inverse kinematics of position, and Jacobian that depicts the relation between input velocity and output one ,were derived through predigesting the manipulator into 3-PUU model according to the principle of the motion equivalent. Then, geometrical properties of workspace and dexterity of the manipulator were analyzed,response rules of the workspace and dexterity, incused by changing parameters,were derived. The analyses indicate that the workspace of 3-PU*U* manipulator has regular geometrical shape,the dexterity is satisfactory,and the manipulator is a perfect 3-DOF translational parallel one. The results obtained can be applied to the kinematics design for 3-PU*U* parallel manipulator.

关 键 词：3-PU^＊U^＊型并联机构 位置逆解 工作空间 运动灵活性 

分 类 号：TH112.1[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]