三平移弱耦合并联机器人机构机型及位置精度分析

针对基于混合单开链的三平移弱耦合并联机器人机构机型设计的一种新方法，阐述了动平台可实现三平移的实用新机型的设计过程。基于并联单开链求交思想，给出了静平台上三个转动副为主动副、具有弱耦合的多种新的基本机型。针对该类机构建立运动学模型和误差模型，研究了影响该类机构并联机器人操作器精度的因素，由于该类机构具有弱耦合特性，使得用软件方法提高机构精度值变得方便易行。运用正交网格方法分析了各杆长及参数对末端精度的影响程度，找到了影响该机构误差的主要因素，为提高该类并联机构机器人末端输出精度提供了依据，具有很大的实用价值。

Type Synthesis of Kinematic Structures of 3-DOF Weakly-coupled Parallel Robot Mechanism and Precision Analysis

Aiming at a new design method of type synthesis of kinematical structures based on the 3--DOF weakly--coupled parallel robot of hybrid and single--opened chains, the design process that dynamic platform can fulfill the 3--DOF practical new machine type was presented. With the method of intersection for parallel single--opened chain, many new basic machine types that three rotations were active joints in static platform and were weakly coupled were presented. For this mechanism type, the kinematics and error model were set up,the factors that affect the parallel robot mechanism operation precision were studied. Due to the weakly--coupled property, it was easy to use software to improve the precision. An orthogonal grid method was used to find the results that every length of pole and parameter affect the end precision and the main factors that affect this mechanism, which provides the proof for improving precision, has important practical value.