一种三自由度并联稳定平台机构的位置与工作空间分析

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According to theory of the structure type synthesis of parallel robot mechanism, a spatial 3-DOF parallel mechanism with ability of realizing one translation and two rotation was proposed. Based on SOC unit and theory of POC matrix, a topology struc- ture characteristics analysis and position analysis were given. Its forward and inverse position solution equations were established. And the decoupling analysis and singular configuration analysis were also given. There was a workspace analysis at last. This mechanism is easy to control and plan trajectory, with a good prospect in applications of ship stable platform and etc.根据并联机器人机构结构综合理论，提出一种能够实现空间一平移两转动的三自由度并联机构。以单开链单元和方位特征集理论为基础，对机构进行拓扑结构特征的分析和位置分析，建立了位置正逆解的方程，然后进行了解耦性和奇异位形的分析，最后对其工作空间进行分析。该机构易于控制和轨迹规划，在船舶稳定平台等领域有良好的应用前景。