【摘要】 基于S(P) [T]输出基和P输入基的空间立方机构是一具有6-DOF的解耦机构,通过增加辅助导轨和关节可以获得4种新构型,选取一种作为研究对象,立方机构可分解成两个并联机器人的串联组合,并联机器人的各支链均为一串联支链,利用并联机构和串联机构的运动学等效,考虑各分支末端误差对最终运动平台位姿误差的影响,提出了基于动态和静态因素的综合分析方法,并给出了主要的影响因素,并以实例的形式对研究结论进行了有效性验证,通过分析可以知道,辅助导轨和关节的增加使得机构在输出主轴末端的空间位置和姿态误差有减小的明显效果。更多还原

【Abstract】 New type of cubic mechanism with S( P) [T] output base and P input base decoupled with six degree of freedom,four types of structure obtained by adding auxiliary guides and joints,cubic mechanism can be decomposed into two parallel manipulators,every branch can be seen as a serial branch,make use of the equivalent of kinematics between parallel mechanism and serial mechanism. take into account the influence to pose error of end kinematical platform of each branch end error,integrated method involve the kinematical and static factors supposed,with the main factors given,practical example carried out to verify the validity of the results. Greatly reduce of position accuracy and pose accuracy realized by adding auxiliary guides and joints on the cubic mechanism.更多还原