| 一种新型3-RPR并联机构及其运动学分析 |
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| 引用本文： | 刘延斌,韩秀英,郭志佳,贾新杰. 一种新型3-RPR并联机构及其运动学分析[J]. 中国机械工程, 2011, 22(19) |
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| 作者姓名： | 刘延斌 韩秀英 郭志佳 贾新杰 |
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| 作者单位： | 河南科技大学,洛阳,471003 |
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| 摘 要： | 提出了一种能实现沿Y、Z轴平移和绕X轴转动的3-RPR型三自由度并联机构,运用螺旋理论分析了该并联机构实现二维平移和一维转动的机构学原理,计算了机构自由度,进行了驱动输入选取与论证,并进行了奇异分析,提出了减少奇异的参数设计条件,运用多体系统运动学理论建立了运动学模型,研究了运动学正反求解,并进行了数值仿真验证,最后分析了机构的工作空间。该并联机构是一种支链完全相同的半对称并联机构,结构较为简单,是对2T1R并联机构的重要补充,可应用于工业装配机器人、姿态调节器、并联机床、工作台等领域。
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| 关 键 词： | 并联机构 运动学 奇异性 螺旋理论 |
Structure and Kinematics Analysis of a Novel 3-RPR Parallel Mechanism |
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| Liu Yanbin Han Xiuying Guo Zhijia Jia Xinjie Henan University of Science , Technology,Luoyang,Henan. Structure and Kinematics Analysis of a Novel 3-RPR Parallel Mechanism[J]. China Mechanical Engineering, 2011, 22(19) |
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| Authors: | Liu Yanbin Han Xiuying Guo Zhijia Jia Xinjie Henan University of Science Technology Luoyang Henan |
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| Affiliation: | Liu Yanbin Han Xiuying Guo Zhijia Jia Xinjie Henan University of Science and Technology,Luoyang,Henan,471003 |
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| Abstract: | A novel 3-RPR parallel mechanism was proposed,that can realize two-dimensional translations along Y,Z-axis and rotation about X-axis.Based on screw theory,the principles in accordance with which the parallel mechanism realized the above 3-DOF motions were analyzed,the mobility of the parallel mechanism was calculated,and the drive input joints were chosen and discussed,the motion singularity was analyzed and the parameter design conditions were presented to decrease motion singularity.By means of multi-body... |
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| Keywords: | parallel mechanism kinematics singularity screw theory |
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