三自由度球面并联机器人机构的边角关系

用一种新方法解决球面并联机器人的运动学问题。首先使球面机构平面化，然后用类似于平面机构分析的方法导出一般三自由度球面并联机器人Stewart平台的位姿方程，进而导出类似于平面并联机构的输入输出速度方程。这种方法方便易学，便于实际应用。

The Relations Among the Angles and Sides of 3-DOF Spherical Parallel Robot Mechanism

The method of spatial mechanism analysis is often been applied to make kinematics analysis of spherical parallel mechanism. It is not convenient. This paper developed a new technique to make kinematics analysis of this mechanism. First,the spherical parallel mechanism was changed into a planar one by a new coordinate. Then,the orientation equations of plaform were established by the method of planar mechanism analysis for the general three degree-of-freedom spherical parallel robot mechanism. Finally, its input and output venocity equations similar to that of planar parallel mechanism were established.The new technique is easy to learn and is convenient in practical application.