一种纯移动新型并联机构的运动分析与仿真

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根据3-TT复合运动副的结构特点,提出了一种3-P（3TT）R新型三自由度并联机构,其运动平台能够实现三维平动运动。利用坐标变换法建立了机构的位置和速度解析方程,算例仿真分析结果表明：通过改变各分支支链滑块的不同位移,可以使运动平台按设定规律运动。 According to the design feature of 3-TT composite pair,the new 3-P（3TT）R parallel manipulator with three degrees of freedom is proposed,its platform has only three translations.The position and velocity analytic equation are constructed based on the coordinate transformation,simulation result indicates that the platform can be regularly moved by modifying the displacement of the branch block.