【摘要】 提出了一种新型平面三自由度冗余度并联机器人机构 ,并对它的运动学问题进行了研究。由于采用了特殊的驱动冗余方法 ,可得到运动学正解的封闭形式。还从机构学的角度分析了其运动学正解个数多于一个解时的情况。更多还原

【Abstract】 A new 3 D.O.F.planar redundant parallel manipulator is proposed and the kinematics is investigated.Because of the adoption of a special actuation redundancy,the closed form solution of direct kinematics is obtained.The number of direct kinematics is 4 at the utmost.But in general the number of direct kinematics is 1.The mater in case of multi solutions of direct kinematics is discussed from the view of mechanism.更多还原