三平移非对称解耦并联机构及其运动学分析

基于并联拓扑机构组成原理，总结了机构解耦特性分析的步骤，对一种三平移非对称并联机构及其运动学进行了分析。通过选择适当的主动副，在保证机构具有良好耦合特性的基础上，此并联机构位置正解、逆解求解简单，非期望输出为常量。由于结构简单、位置正解数目少、实时性好，而且简化了机构的控制与轨迹规划问题，为小型非对称并联机器人提供了新实用机型。

A Un-symmetrical Decoupling Parallel Mechanism with Three Translational Degrees of Freedom and Its Kinematics Analysis

Based on topological principles of general parallel mechanisms, the decoupling steps of parallel mechanisms are concluded. Also the kinematic analysis of the un-symmetrical parallel mechanism of 3-RRRP(4R) with three translational degrees of freedom is carried out. On the basis of better topological decoupling, the mechanism is simple in structure with fewer solutions for position analyses by choosing appropriate input-joints, and its unexpected outputs are constants. Because of simple mechanism, a few direct and inverse solutions, better real-time ability, the parallel mechanism simplified greatly the questions of real control and path planning. The mechanism provides a new typed practical model for mini un-symmetrical parallel robot.