【摘要】 讨论了一种新型少自由度并联机构4-RPR(RR),描述了机构的特性并利用螺旋理论分析了它的运动,计算了自由度,给出了机构的位置反解,利用虚设机构法建立了一阶影响系数矩阵并对机构进行了速度分析及仿真。这些是对该机构进一步分析的基础,包括其运动学、动力学分析,因此是具有实际价值的。更多还原

【Abstract】 In this paper, a new type lower-mobility symmetrical parallel mechanism, 4-RPR (RR) has been discussed chiefly including its mechanistic characteristic and its motion based on screw theory. Meanwhile its freedom is calculated and inverse kin- ematics on this kind of mechanistic is presented. Furthermore one-order influence coefficient matrix is erected based on nominal mechanism influence coefficient. Finally its velocity analysis and simulation are presented. All these are the basis of more analysis on this kind of mechanisms including kinematics and dynamics. Therefore all presented in this paper are value of practice.更多还原