一类1T2R并联机构拓扑结构综合及优选

研究了一类1T2R并联机构拓扑结构综合和优选。应用平面机构的组成原理和约束特性，将1T2R并联机构拓扑结构视为由一条串接一转动副的1T1R平面并联运动链和两条空间无约束主动支链组成。统筹考虑机构位姿能力恰当性、支链结构力学合理性、机器人模块可重构性、位置逆解简易性和动平台结构紧凑性等准则，完成1T2R并联机构拓扑结构优选及性能验证。在此基础上，提出一种可继承Tricept机器人优点的新型五自由度混联机器人模块，该模块具有与Tricept机器人完全相同的运动学性能，且绝大部分部件可与Tricept机器人互换。

Topological Structure Synthesis and Optimization of 1T2R Parallel Mechanisms

The topological structure synthesis and optimization of 1T2R parallel mechanisms was studied herein. Applying the composition principles and constraint characteristics of planar mechanisms, the topological structure of 1T2R parallel mechanisms was regarded as consisting of a 1T1R planar parallel kinematic chain connected in series with a revolute joint and two spatial unconstrained active limbs. Then the topological structure optimization and performance verification of 1T2R parallel mechanisms were carried out by comprehensively considering the criteria such as appropriateness of mechanisms pose capability, rationality of branch-chain structure mechanics, reconfigurability of robot module, simplicity of position inverse solution, and compactness of moving platform structure,etc. Then, a new five-degree-of-freedom hybrid robot module that may inherit the advantages of Tricept robots was proposed. The module has exactly the same kinematics performance as Tricept robots, and most of the components may be interchanged with Tricept robots.