【摘要】 基于以单开链为单元的并联机器人机构组成原理 ,设计并研制了一种全由转动副组成的动平台能实现空间三维纯移动的解耦并联机器人机构 ,给出了其位置分析的正、逆解析解 ,为其工作空间分析、误差分析等奠定了基础。更多还原

【Abstract】 A novel 3-translation parallel robot mechanisms was synthesized and investigated according to the structural theory of parallel mechanisms based on the units of the single-opened-chain limb.The parallel mechanism was made of pure revolute joints,which make its manufacture and assembly easy.The closed-formed analytic solutions for both the forward and inverse displacement were also developed,which provided a solid foundation for the workspace analysis and error analysis of the mechanism.The prototype of the parallel mechanism was also manufactured.更多还原