一种新型3-RPRRR并联机构的运动学分析

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对一种新型3-RPRRR并联机构进行了运动学分析。首先,基于约束螺旋理论,利用修正的Grübler-Kutzbach自由度计算公式分析了该机构的自由度。然后对该机构进行了位置反解分析。最后采用虚设机构法与运动影响系数理论相结合的方法对该机构进行了速度和加速度分析,并进行了数值验证,表明该方法表达简洁,易于求解。所有这些研究表明：该机构的运动学性能稳定,适合实际应用。 A novel 3-RPRRR parallel mechanism is proposed and its kinematics is analyzed. First, the degree of freedom of the mechanism is analyzed using modified Grubler-Kutzbach formula based on screw theory. Second, the inverse displacement is studied. Third, the velocity and acceleration is analyzed by combining the theory of kinematic influence coefficient with the method of virtual mechanism. Finally, the numerical solutions are given for verification. The derived formulae are concise and easy to be solved. The research results show that the kinematics performance of the mechanism is stable and suitable for practical application.