【摘要】 平面3RPR并联机构是一种能实现两平移一转动典型的精密微动机构，根据方位特征（POC）方程分析出机构的耦合度为1，此机构输入输出不具有运动解藕性。基于此，以运动解耦为优化目标，通过结构降耦原理对机构进行拓扑结构优化，设计一种零耦合度（k=0）的平面精密微动机构，利用方位特征（POC）方程验证降藕的可行性，此机构具有位置正解解析式且执行末端运动解耦性优点，同时，分别对拓扑结构优化的平面精密微动机构进行运动学分析，同时分析机构的工作空间、奇异性、转动能力等特性，结果表明：与原平面3RPR并联机构相比，拓扑结构优化后的平面精密微动机构具有较好的综合性能。更多还原

【Abstract】 Planar3RPR parallel mechanism is a typical precision micromanipulation mechanism which can realize two translation and one rotation. According to the POC equation,the coupling degree of the mechanism is 1,and the input and output of the mechanism do not have motion decoupling. Based on this,taking the motion decoupling as the optimization objective,the topological structure of the mechanism is optimized by the principle of structural decoupling,and a planar precise micromanipulation mechanism with zero coupling degree(k=0)is designed. The feasibility of decoupling is verified by using the POC equation. The mechanism has the advantages of positive position solution analytical and terminal motion decoupling. At the same time,the planar precise micromanipulation with topological optimization is respectively carried out The kinematic analysis of the mechanism is carried out,and the characteristics of the working space,singularity and rotation ability of the mechanism are analyzed. The results show that the optimized planar precise micromanipulation mechanism has better comprehensive performance.更多还原