交叉型平面二自由度移动并联机构运动学性能分析

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为研究一种新型平面二自由度移动并联机构的运动学性能,建立其运动学模型,推导出位置正/逆解的解析表达式,定义运动学性能指标,分析不同构型的性能指标表达式,探讨性能指标与机构尺寸之间的关系,并绘制相关的性能图谱。得到该并联机构具有较大有效工作空间与机架尺寸比值、导轨长度短等优点。这些性能图谱为该并联机构的优化提供了参考。 In order to investigate kinematic performance of a novel planar 2-DoFs translation parallel manipulator.The kinematic model is established and analytical forward and inverse solutions are obtained.Indices of kinematic performance is defined,the expressions of indices of kinematic performance with different architectures are analyzed.The relationship between performance indices and the geometric parameters of mechanism was probed,the corresponding performance atlas has been plotted,the advantage of larger workspace/volume ratio and smaller guide length of this Paralle Manipulator is obtained,these atlas are an important base of reference for the optimal design of this parallel manipulator.