一种新型3-RRRU并联机构及其运动学分析

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A novel absolutely symmetrical 3-RRRU parallel mechanism was proposed that can perform three-dimensional translations. Based on the screw theory, the mechanism principles that the mechanism performed the three-dimensional translations were analyzed, the drive input joints were chosen and discussed, the singularity of the parallel mechanism were emphatically analyzed, and the problem that how could the singularities be avoided was discussed. The kinematics model was set up, the analytic solution of the inverse position kinematics was obtained, and using some methods such as coordinate transformation,and variable expansion, the forward position kinematics solution was discussed and proved by use of numerical simulation. Since the 3-RRRU parallel mechanism is absolutely symmetrical, the mechanism manufacturing is simple and inexpensive, and the singularities can be avoided,the parallel mechanism can be applied in the fields of industrial assembly robots, coordinate measurin~z machines.material handling deviees提出了一种具有三维平移自由度的3-RRRU型全对称并联机构，运用螺旋理论分析了该并联机构实现三维平移的机构学原理，进行了驱动输入的选取与论证，分析了机构奇异，讨论了奇异的可避免性，建立了运动学模型，获得了运动学反解的解析解，通过坐标变换和变量扩展进行了运动学正向求解的讨论与数值验证。该并联机构具有全对称、制造简单、奇异可避免等特点。