【摘要】 提出了一种新型三自由度完全解藕并联机构,机构动平台具有一维移动和两维转动自由度。首先进行了自由度的计算和主动副的选取。然后列出位置方程,推导出位置正、逆解;对位置方程求一阶导数,推导出正、逆雅克比矩阵和速度;根据影响系数法推导出二阶影响系数和加速度。此外,由于全局雅可比矩阵是下三角矩阵,表明该机构的运动完全解藕,简化了机构的动力学分析和控制。最后给出了实际算例,应用Matlab软件进行了运动学曲线分析。更多还原

【Abstract】 A new three degrees of freedoms completely decoupled parallel mechanism is presented,whose moving platform has a one-dimensional translation and two-dimensional rotations.Firstly the degrees of freedom are calculated and the active joints are chosen.Then the position equation of the mechanism is presented and its direct and inverse analytical solutions are derived.Ditect and inverse Jacobian matrix and the velocity are obtained through the first derivative for the position equations.By using influence coefficient method,the second-order influence coefficient and the acceleration are derived.In addition,as the global Jacobian matrix is lower triangular matrix,the motion of the mechanism is completely decoupled,which simplify dynamic analysis and control.At last,an application example is given for the kinematics curve by using Matlab.更多还原