Abstract:

A novel 3-DOF parallel mechanism that can perform three-dimensional translations was investigated herein. At first, the degree-of-freedom and possible motion were defined by using screw theory. Then closed-form inverse displacement solutions were obtained based on the characteristics of the parallel mechanism and the forward displacement problem was analyzed by using the Bezout’s elimination method. At last, a numerical example was given in order to prove the correctness of the inverse and forward displacement solutions.

Key words:

parallel mechanism, screw theory, inverse displacement solution;Bezout’s elimination method, forward displacement solution

摘要：

对一种新型的三平动自由度并联机构3-PRUR进行了研究。首先，使用螺旋理论确定了该机构的自由度和可能的运动;然后，根据机构的特点求得该机构的位置反解;接着使用Bezout消元法求得该机构的位置正解;最后，提供了一个数值实例，该实例证明了位置正反解的正确性。

关键词: 并联机构, 螺旋理论, 位置反解, Bezout消元法, 位置正解