论文标题
具有部分运动解耦和分析直接运动学的翻译三级平行机制
A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
论文作者
论文摘要
根据位置和取向特征（POC）方程的拓扑设计理论和平行机制（PM）的方法，本文研究了一个3-DOF翻译PM，该PM具有三个优点，即（i）它由三个固定的驱动棱镜关节组成，（II）PM对直接和反向Kinematic Comparation进行了分析解决方案，并且PMS属于PM和III和（III IS）。首先，计算了用于运动学建模的主要拓扑特征，例如POC，自由度和耦合度。多亏了这些属性，可以很容易地解决直接和逆运动问题。此外，分析了PM的奇异构型的条件，该条件与其部分运动解耦属性相对应。
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed which corresponds to its partial motion decoupling property.
