【摘要】 提出了一种新型五自由度并联机构及其应用前景,该机构由一个RRTR分支和4个SPS分支组成,可实现空间的三维移动以及两个独立方向的转动,可用于部件装配、推拿机器人、空间机构的运动平台等应用场合 采用螺旋理论分析了能实现预定运动输出的机构学原理,计算了机构的自由度,采用直观的零位形两步法建立运动变换矩阵,求出用于实时位置控制的反解,并给出数值算例,分析了该机构在推拿机器人设计上的应用前景更多还原

【Abstract】 A novel parallel mechanism with 5-DOF and its potential applications are introduced It can perform three translations and two rotations in space,　thus promises many practical applications such as part assembly,massage manipulator, and mobile base for a spatial mechanism.The screw theory is app-lied) to analyze the mechanical principle in carrying out the desired output motion and the degrees of freedom are determined. A simple zero-pose method with two steps is applied to establish the kinema-(tic) transformation matrix and the solutions are developed for inverse kinema-(tics.) The results are useful for the design of parallel mechanisms with limbs consisting of Hook joints or spherical joints.更多还原