一种新型3-DOF混联机械臂的运动学基础分析

机械臂运动学基础性能分析是其控制和应用的基础。分析了一种新型3一DOF混联机械臂的运动学传递性能，定义了这种混联机械臂的速度传递性能评价指标，并研究了评价指标在定姿态工作空间内的分布规律，为这种混联机械臂的设计与控制奠定了理论基础。这种新型3-DOF混联机械臂具有工作空间大、运动灵活、刚度大和工艺性好等优点。

The Base Kinematics Analysis of a Novel 3-DOF Hybrid Mechanical Arm

The kinematics transmission analysis in the workspace of the mechanical arm, changing based on the defferent position, will play important role on the control and applications of the mechanical arm. The kinematics transmission capacity evaluation indexes of the 3-DOF hybrid mechanical arm, based on the kinematics analysis in detail, are defined, and the distribution of the kinematics transmission capacity evaluation index in the workspace is drawn, which can provide theoretical base for the applications of the 3-DOF hybrid mechanical arm. The 3-DOF hybrid mechanical arm is suitable for the modern industrial applications in which the requirements for big workspace, high stiffness and good technological efficiency etc.