一种平面三自由度并联机构设计及其应用

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提出了一种3-SPP平面三自由度并联机构。针对该机构先从理论上进行了自由度数计算和运动学分析,然后完成了该机构的结构设计和样机试制,最后在大型激光器的大口径光学元件安装和拆卸中进行机构设计目标验证。实验结果表明,该机构满足设计运动期望,达到了定位精度和可调范围指标,实现了对大口径光学元件位姿的精确调整。 A 3-DOF Planar parallel mechanism is proposed in the article.At first the calculation of degrees of freedom and kinematic analysis about the mechanism are researched in theory,then structural design and prototype trial are carried out.Finally the mechanism is verified in the progress of the installation or removal of large-diameter optics in the large-scale lasers.Experimental results show that the mechanism meets the expectations of movement,reaches adjustable positioning accuracy and range of indicators,achieves precision pose adjustment of the large-diameter optics.