空间非对称全柔性三平移并联机器人机构性能分析

 运用型综合单开链理论对新型非对称全柔性机器人机构的型进行了分析综合，并通过ADAMS软件进行了运动输出类型的验证; 对该机构的运动学的位置正解进行了理论分析，得出机构运动的位置正解方程，对理论分析的结果也进行了仿真模拟; 型综合与仿真结果证明机器人机构仅能实现三维的平动; 位置正解理论分析与运动学仿真结果显示机构具有良好的运动解耦特性。为全柔性并联机器人机构的运动控制的易操作性打下坚实的理论基础。

Analysis of dissymmetrical spatial fully compliant robot based onparallel mechanisms with 3-DOF translations

Synthesis of a new type of fully compliant robot mechanism was carried out by utilizing the single-open-chain theory, and the position analysis of such mechanism was simulated in ADAMS. Then the equations of up-platform's translation were formulated based on the theoretical analysis of positive kinematics. Finally, simulation on the result of theoretical analysis was conducted. The results of type synthesis and simulation showed that such mechanism could move with 3-DOF translations while without rotation. In addition, they still indicated that the No.1 and No.2 chain's positive kinematical equations are related to one driver's value each other except the No.3 chain. The kinematical simulation also proved the correctness of the theoretic results of the positive kinematical equations, which can be applied as a firm basis for the easy-operation of kinematical control for fully compliant parallel robot mechanism.