一种基于PR驱动的6自由度并联机构设计与仿真

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基于广义等效KP旋量系设计了一种新型3支链6自由度并联机构3-PRRS，机构采用PR驱动方式。介绍了机构的设计过程，分析了机构的输入合理性，求取了机构的位置反解，并通过仿真验证了机构设计的正确性和有效性。 A new 6-DOF parallel mechanism 3-PRRS was designed based on generalized equivalent KP screw system. The driv- ing mode was PR. The design process was introduced, inputs rationalities was analyzed and inverse position kinematics solutions were gotten. The correctness and validity of this design method was proved by simulation analysis.