三自由度类球面并联机构的动力学建模及分析

提出一种可应用于电子装配领域的三自由度（2R1T，R表示旋转，T表示平移）类球面并联机构. 该机构由上下2个等半径的动、定平台通过3个相同的RSR（R表示转动副，S表示球关节）支链连接而成. 在运动过程中，动平台与定平台始终关于一个中间平面对称，且动平台可绕着对称面内的任意轴线连续旋转和沿着两平台中心连线方向连续平移. 基于机构特殊的几何对称性，建立了其等效运动学模型，在此基础上运用Lagrange方法建立了机构的动力学模型，并通过具体的运动算例，利用Mathematica计算和ADAMS（Automatic Dynamic Analysis of Mechanical Systems，机械系统动力学自动分析）仿真验证了该动力学模型的正确性和有效性，为进一步研究机构的动态特性及系统运动控制提供理论指导.

Dynamic Modeling and Analysis of 3-DOF Spheroid Parallel Mechanism

A three-degree-of-freedom (2R1T,R denotes rotation, T denotes translation) spheroid parallel mechanism that can be applied in the field of electronic assembly is proposed. The mechanism is composed of two equal-radius moving platform and base which are connected by three identical RSR (R denotes rotational pair, S denotes spherical pair) branches. The moving platform and the base are always symmetrical about a middle plane during the movement, and the moving platform can rotate around any lines within the plane of symmetry and translate along the center line of the two platforms. Based on the special geometric symmetry of the mechanism, its equivalent kinematics model was established. Then the dynamic model of the mechanism was established by using the Lagrange method. Through specific motion examples, the dynamics were validated using Mathematica calculations and ADAMS (Automatic Dynamic Analysis of Mechanical Systems) simulations. The correctness and validity of the learning model provide theoretical guidance for further research on the dynamic characteristics of the mechanism and system motion control.