【摘要】 文章介绍了一种伸缩杆一水平滑块式三自由度并联机器人机构,根据该机构的结构建立了其运动学方程导出其雅可比矩阵,并对该机构的静力学方程进行了推导。该机器人机构运动学方程正、逆解均具有显式解;其雅可比矩阵在工作空间内不存在奇异点;具有三个平动方向的运动自由度,是一种具有实用价值的机器人机构。更多还原

【Abstract】 The paper presents a 3 - DOF robot mechanism with extensive - link - horizontal - slipper parallel structure, then erects kinematic equations and derives static equations and Jacobian matrix. Both forward and inverse solutions of kinematic equations are of obvious expressions. It has not any singularity in the working space and has 3 - motive freedom in translative directions. As a result,the robot with parallel mechanism is one of applied value.更多还原