新型三平移解耦并联机构的综合

以螺旋理论为基础,提出并联机构移动自由度的实现条件,阐述了分支输入副的选择准则,确立了分支运动副的配置原则,进而形成了较为完整的移动解耦并联机构构型综合理论。根据所得综合理论,以工程实际任务要求为例,综合出三移动解耦并联机构的各分支,并选取其中三个分支组合得到一种具有全局各向同性的新移动解耦机型。针对新机构的自由度及位置正反解进行分析，以雅可比矩阵的条件数为目标进行了位形优化，并据此参数开展了样机研制。

Type Synthesis of a Novel Three Degree of Freedom Translational Decoupled Parallel Mechanism

Based on the screw theory, the realization conditions of the translational degree of  freedom(DOF) for the parallel mechanism were proposed, while the selective guideline of the input pair was elaborated and the configurations principles of the kinematic pair were established. All of these were to form the relatively complete type synthesis theory of the translational decoupled parallel mechanism(TDPM). According to the obtained theory, taking a practical engineering task as an example, a full isotropic  TDPM which was composed of three branches was achieved after synthesizing all branches of the 3-TDPM. Then the DOF and the forward and inverse solution of the new mechanism were analyzed. Finally, the prototype was manufactured in accordance with the configuration parameters which were obtained on the basis of the condition numbers of Jacobian matrix.