新型3-TPS并联机器人平行机构的约束与运动学分析

目的为完善并联机器人理论．解决并联机床产业化关键技术．方法用螺旋理论方法分析平行机构的约束特性，并计算其自由度；用空间坐标转换理论推导出平行机构的雅可比矩阵；用仿真方法分析了机构的奇异性，获得工作空间的可操作度变化范围．结果新型3-TPS并联机器人的动平台只能作沿Y、Z两轴的平动和绕Y轴的转动。平行机构有3个自由度．结论由于平行机构对并联机器人的约束，使新型3-TPS并联机器人具有3个自由度，通过雅可比矩阵和机构奇异性的推导和计算，得到平行机构在工作空间中没有奇异形位和不定形位的结论．该方法可应用于类似并联机器人的结构设计与运动学分析中．

The Constraint and Kinematic Analysis of a New 3-TPS Parallel Robot

This article aims to do some constraint analyses on the constraint chains of the 3-TPS parallel robot,and do kinematics study,by analyzing the constraint behavior of the parallel mechanism with screw theory,calculating its degrees of freedom,using the theory of space coordinate conversing to present the Jacobian matrix of the parallel mechanism,analyzing the singularity of the mechanism with the simulating theory,and obtaining the range of operability of work space.With the result that the moving platform of the new 3-TPS parallel robot only can move along Y,Z axis,and circle around Y axis,the parallel mechanism has three degrees of freedom,the authors draw the conclusion that,because of the constraint of the parallel mechanism,the new type 3-TPS parallel robot has three degrees of freedom.With the deducing and calculating of Jacobian matrix,the singularity of mechanism,the conclusion is abstained that the parallel mechanism has no singular/uncertain position in the work space.This method can be used to design the similar mechanism and do kinematics analysis.