【摘要】：提出一種新型3-UPU對(duì)稱并聯(lián)機(jī)構(gòu),其動(dòng)、定平臺(tái)始終關(guān)于中間平面對(duì)稱,該機(jī)構(gòu)具有兩個(gè)轉(zhuǎn)動(dòng)自由度和一個(gè)移動(dòng)自由度。運(yùn)用螺旋理論對(duì)機(jī)構(gòu)的自由度性質(zhì)及運(yùn)動(dòng)特性進(jìn)行分析,證明該機(jī)構(gòu)動(dòng)平臺(tái)可以繞對(duì)稱平面內(nèi)的任意一條軸線或任意點(diǎn)發(fā)生連續(xù)轉(zhuǎn)動(dòng),說(shuō)明該機(jī)構(gòu)不存在"伴隨運(yùn)動(dòng)",這為機(jī)構(gòu)的求解及控制提供了很大的便利。同時(shí),該機(jī)構(gòu)還具有一個(gè)沿對(duì)稱面法線方向的移動(dòng)自由度,動(dòng)平臺(tái)沿該自由度方向也可以發(fā)生連續(xù)的移動(dòng)。針對(duì)此機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn),用兩個(gè)角度參數(shù)就可以方便、直觀地表示出動(dòng)平臺(tái)的姿態(tài)信息。推導(dǎo)該并聯(lián)機(jī)構(gòu)的位置正、反解,并分析其工作空間,可以看出該機(jī)構(gòu)的正反解都具有解析解,且表達(dá)式較為簡(jiǎn)單,方便后續(xù)的深入研究。該機(jī)構(gòu)具有較大的工作空間,能夠滿足一般的工作需要。
[Abstract]:A new type of 3-UPU symmetric parallel mechanism is proposed, which has two rotational degrees of freedom and one moving degree of freedom. The degree of freedom and motion characteristics of the mechanism are analyzed by using the helical theory. It is proved that the moving platform of the mechanism can rotate continuously around any axis or any point in the symmetric plane. It is shown that there is no "accompanying motion" in the mechanism, which provides great convenience for the solution and control of the mechanism. At the same time, the mechanism also has a moving degree of freedom along the normal direction of the symmetric plane, and the moving platform can also move continuously along the direction of the freedom of freedom. According to the structural characteristics of the mechanism, it is convenient and intuitively to express the attitude information of the platform with two angle parameters. The forward and inverse solutions of the parallel mechanism are deduced, and its workspace is analyzed. It can be seen that the forward and inverse solutions of the mechanism have analytical solutions, and the expression is relatively simple, which is convenient for further study. The organization has a large workspace, can meet the general needs of the work.
【作者單位】： 燕山大學(xué)河北省并聯(lián)機(jī)器人與機(jī)電系統(tǒng)實(shí)驗(yàn)室;燕山大學(xué)機(jī)械工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(51305381) 高等學(xué)校博士學(xué)科點(diǎn)專項(xiàng)科研基金聯(lián)合資助課題新教師類(20131333120006)資助項(xiàng)目
【分類號(hào)】：TH112

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