完全各向同性3自由度平面并联机构的型综合

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提出了完全各向同性3自由度平面并联机构型综合的系统方法。首先，根据螺旋理论讨论了完全各向同性平面并联机构的运动学必要条件。然后，基于机构各分支对动平台控制功能的不同，通过互易螺旋理论推导出各分支的驱动螺旋、主动螺旋和可动非主动螺旋，并按照分支连接度的不同列举出所有可行的分支运动链。最后，按照机构各分支相应的装配条件，选取所综合出的3条分支运动链将动平台和静平台连接起来得到预期的机构，共得到新型机构3167种。由于综合出的并联机器人机构的运动雅可比矩阵均为单位阵，即条件数恒为1，因此这类机构具有良好的运动学和力传递性能，在工业机器人、微操作机器人和医用机器人等领域具有潜在的应用前景。 A systemic approach to the structure synthesis of fullyisotropic three degreeoffreedom （DoF） planar parallel manipulators was presented. Firstly, the necessary conditions for designing fullyisotropic planar parallel manipulators were discussed by use of the screw theory. Based on the different control functions of each limb for the moving platforms, the actuation screw, actuated screw and mobile unactuated screws of every limb were derived in terms of the reciprocal screw theory. Then, all possible limbs were enumerated according to the different connectivity numbers of the kine matic chain. Finally, the desired manipulators, including 3 167 new types, were obtained by connecting the moving platform to the fixed base by using three limbs according to some assembling conditions. Each kine matic Jacobian of these manipulators is an identical matrix and their conditioning numbers are all equal to 1, sothe manipulators can offer very good motion and force transmissions, and show prospective applications in in dustrial robots, micromanipulating robots, and medical robots.