三自由度3－RPS并联机器人操作器的瞬时独立运动分析

讨论了具有三自由度的３－ＲＰＳ并联机器人机构的独立运动及其与机构结构设计的关系。根据这种机构的结构特点，给出了操作平台的输出运动参数的三个运动约束方程，并且建立了三个独立输出运动参数和三个独立运动输入参数之间的一阶速度影响系数矩阵的显式数学模型，分析了机构的独立运动与机构结构设计的关系，并给出了这种机构的操作平台的瞬时运动螺旋的确定方法，为这种机构的运动学特性分析及其机构结构设计提供了简便有效的数学工具

Instantaneous Motion Analysis of a Three Degree of Freedom 3 RPS Parallel Robot Manipulator

This paper analysed the relationship between the independent motions and the structure design of a three DOFparallel robot manipulator. It needs six parameters to determine the orientation and position of a rigid body in three dimensional space.The question to 3 RPS mechamism which three of the six parameters are independent. The answer to this question is significant in the path plan and motion control of robot manipulators.This paper formulated three motion constraint equations which are consistent with structure of the mechanism and the close form first order influence coefficient matrix model of three independent output parameters in terms of three input variables, analyzed the relationship between the independent motions and the structure design of the mechanism, and determined the instantaneous motion screw of the platform.