并联机构, 运动学, 奇异性, 螺旋理论

A novel 4-RPTR parallel mechanism was presented,which can perform three-dimensional translations and rotation about X axis. Based on screw theory, the principles that the mechanism can perform the above motions were analyzed, the mobility of mechanism was calculated, and the drive input joints was chosen and discussed, the singularity of the parallel mechanism were analyzed. By use of multi-body system kinematics theory, the kinematics equation was set up, the forward and inverse position kinematics solutions were discussed and proved by use of numerical simulation. The 4-RPTR parallel mechanism replenishs four-DOF parallel mechanism family, its four branch

is the same, and its structure is semi-symmetric and simple, and the parallel mechanism can be applied in the fields of industrial assembly robots, coordinate measuring machines, posture adjusters, parallel machine tools, work platforms.