| 一种三自由度并联解耦机构的构型与运动学分析 |
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| 引用本文： | 郑建勇,李为民,史金飞,王文凯. 一种三自由度并联解耦机构的构型与运动学分析[J]. 机械科学与技术, 2008, 27(7) |
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| 作者姓名： | 郑建勇 李为民 史金飞 王文凯 |
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| 作者单位： | 东南大学机械工程学院,南京,211189;河北工业大学机械工程学院,天津,300130;东南大学机械工程学院,南京211189;南京工业职业技术学院,机械工程系,南京210016 |
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| 摘 要： | 针对一种具有运动解耦特性的三自由度并联机构,首先介绍了平动解耦构型的基本思想,并采用了一种基于运动副的机构构型方法,对机构进行了构型分析。该机构由3个正交分布的支链组成,机构的运动副均为转动副,其动平台在X、Y、Z这3个方向平动解耦。对机构进行了自由度和运动学分析,推导了机构的运动学正/反解、输入/输出的速度和加速度,验证了机构的运动解耦特性。最后,基于机构的运动解耦特性,介绍了该机构在一种新型4-DOF串并联机器人试验样机中的应用。
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| 关 键 词： | 三自由度并联机构 构型 运动学 解耦 |
Configuration and Kinematics Analysis of a Three Degree-of-Freedom Parallel Decoupling Mechanism |
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| Zheng Jianyong,Li Weimin,Shi Jinfei,Wang Wenkai. Configuration and Kinematics Analysis of a Three Degree-of-Freedom Parallel Decoupling Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2008, 27(7) |
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| Authors: | Zheng Jianyong Li Weimin Shi Jinfei Wang Wenkai |
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| Abstract: | One type of three degree-of-freedom(3-DOF) translational parallel decoupling mechanism′s configuration is studied,which has been obtained from the movable pair-analysis method.The mechanism has three orthogonal distributional branch-chains;all its movable pairs are rotational joints;and its movable-platform has X,Y,Z three translational decoupling directions.Its freedom and kinematics are also studied according to the parallel mechanism characteristics.The direct and inverse kinematics are solved,and its input/output speed and acceleration are determined and they confirm its decoupling movable characteristics.Finally,in view of the mechanism′s movable decoupling characteristics,the mechanism′s application to a novel 4-DOF series-parallel robot prototype is presented. |
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| Keywords: | 3-DOF parallel mechanism configuration kinematics decoupling |
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