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提出了一种新型三自由度并联机器人机构,分别给出了其位置分析的正、逆解析解,研究了输入变量对3个输出变量的具体影响,详细分析了输出变量随输入变量的变化趋势,并由此确定了输入变量和输出变量的理想取值范围。研究结果表明该机构结构简单,可实现一平移二转动输出,为该种机构的机械结构设计和运动轨迹控制奠定了良好的基础。
A new type of three degrees-of-freedom parallel robot mechanism is proposed. The exact and inverse analytic solutions of the position analysis are given respectively. The effects of input variables on the three output variables are studied. The variation trend of the output variables with input variables is analyzed in detail , And thus determine the ideal range of input variables and output variables. The results show that the mechanism has a simple structure and can achieve a translational and rotational output, which lays a good foundation for the mechanical structure design and trajectory control of the mechanism.