【摘要】 并联机构的冗余特性具有增大有效工作空间、实现容错运动等优点，可提高并联机构的性能。基于3-PRS并联机构结构特点，从运动子支链的构型出发，设计出具有冗余的运动子支链，提出了3-PR(P)S冗余并联机构；运用螺旋理论分析3-PR(P)S冗余并联机构的自由度，建立运动学模型，推导了运动学方程；针对经典蒙特卡洛法求解并联机构工作空间存在边界粗糙、精确度不够问题，提出了一种基于边界极值点增密的蒙特卡洛法，并对3-PR(P)S冗余并联机构进行工作空间分析，给出了具体的求解步骤；最后，通过Matlab进行编程与仿真，绘制出不同参数下3-PRS并联机构与其冗余并联机构的工作空间图谱。结果表明，在相同参数下，3-PR(P)S冗余并联机构的工作空间较3-PRS并联机构有较大的改善。研究为轨迹规划、容错控制提供了理论基础。更多还原

【Abstract】 The redundancy feature of the parallel mechanism can increase the effective workspace,realize the fault-tolerant motion,which improves the performance of the parallel mechanism. Based on the 3-PRS parallel mechanism structure characteristic,starting from the configuration of a kinematic sub-branches,a redundant kinematic sub-branches is designed,and then a 3-PR(P)S redundant parallel mechanism is proposed. The degree of freedom of 3-PR(P)S redundant parallel mechanism is analyzed by using screw theory,a kinematic model is established,and the kinematic equation is derived. Aiming at the problems of rough boundary and low accuracy in solving the workspace of parallel mechanism by classical Monte Carlo method,a Monte Carlo method based on boundary extremum densification is proposed. The workspace of 3-PR(P)S redundant parallel mechanism is analyzed,and specific solving steps are given. Finally,the workspace of 3-PRS parallel mechanism and redundant parallel mechanism under different parameters are figured by Matlab programming and simulation.The results show that the workspace of the 3-PR(P)S redundant parallel mechanism is greatly improved compared with the 3-PRS parallel mechanism under the same parameters,which provides a theoretical basis for trajectory planning and fault-tolerant control.更多还原