J4 ›› 2008, Vol. 19 ›› Issue (4): 0-465.

• 科学基金 •    下一篇

一种新型3-CRP移动并联机构的设计和运动分析

张彦斌1,2;吴鑫2;刘宏昭1;张明洪1     

  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2008-02-25 发布日期:2008-02-25

Design and Kinematical Analysis of a Novel Translational Parallel Mechanism with 3-CRP Limbs

Zhang Yanbin1,2;Wu Xin2;Liu Hongzhao1;Zhang Minghong1   

  • Received:1900-01-01 Revised:1900-01-01 Online:2008-02-25 Published:2008-02-25

摘要:

提出了一种新型三维移动并联机构,该机构由3条正交运动链3-CRP将动平台和定平台连接而成。利用螺旋理论对机构的自由度进行了分析和计算,研究了分别以圆柱副中的转动和线性移动作为主动输入的机构的运动学正逆解、奇异性和各向同性。当以转动输入为主驱动时,运动雅可比矩阵为3×3阶对角阵,故机构为无耦合并联机构;当以移动为主驱动时,雅可比矩阵为3×3阶单位阵,且其行列式的值为1,所以在整个工作空间内机构表现为无奇异完全各向同性。因此该机构具有良好的运动和力传递性能以及较强的实用价值。

关键词: 移动并联机构;奇异性;雅可比矩阵;各向同性;运动分析

Abstract:

A novel three-dimensional translational parallel mechanism,which consisted of a moving platform connecting with a fixed base by 3-CRP orthogonal limbs,was presented.The degree of freedom of the mechanism
was analyzed and computed based on screw theory.The direct and the inverse solutions, singularities and isotropy of the mechanism were investigated respectively in terms of different actuated inputs,i.e., rotary actuation or
linear actuation method. When the actuated joint was rotary actuation, kinematic Jacobian matrix of the manipulator was a diagonal matrix.So it was an uncoupled mechanism.
As the actuated joint was linear one,Jacobian matrix of the manipulator was an identity 3×3 matrix and its determinant was equal to one. Manipulator,therefore,was singularity-free fully-isotropic
throughout the entire workspace.Thus the mechanism performs very well with regard to motion and force transmission and has higher practical values.

Key words: translational parallel mechanism;singularity, Jacobian matrix;isotropy;kinematic analysis

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