【摘要】 针对并联骨科机器人在微创骨折复位手术中工作空间相对较小、规避奇异位形能力相对较弱等问题，提出一种基于Gough-Stewart平台(Gough-Stewart parallel mechanism, GSPM)的新型运动学冗余并联机构。对所提新型冗余并联机构进行了介绍，建立了该新型机构的运动学模型，并对其工作空间进行了仿真。基于三点法构建了维度齐次雅可比矩阵，比较了该新型并联机构和GSPM的灵巧性与奇异性。采用多变量多目标优化方法对所提出的新型并联机构的几何参数进行了优化。最后，在3D打印样机上进行了实验，实验结果表明：相比GSPM，新型并联机构的工作空间体积扩展了273.5%，且灵巧性更优，验证了仿真和分析方法的有效性。更多还原

【Abstract】 To solve the problems of relatively limited workspace and relatively weak ability to avoid singular configurations of parallel orthopedic robots in minimally invasive fracture reduction surgery, a new kinematic redundant parallel mechanism is proposed based on Gough-Stewart parallel mechanism(GSPM). The structure of the proposed parallel mechanism is introduced, its kinematics and dynamics are established, and its workspace is simulated. The dexterity and singularity of the GSPM and the proposed parallel mechanism are analyzed based on the dimensionally homogeneous Jacobian matrix. The multi-objective optimization method is used to optimize the geometric parameters of the proposed parallel mechanism. Experiments are conducted on the 3D printing prototype. It is shown that, compared with the GSPM, the workspace volume of the proposed parallel mechanism is expanded by 273.5 %, and its dexterity is better, which verifies the effectiveness of the simulation and analysis methods.更多还原