Abstract:

A novel spatial parallel robotic manipulator with 3-dof, containing two-translational and one-rotational, was proposed. Solutions of position and velocity for both direct and inverse kinematics were analyzed. The singularities were discussed in detail. Jacobean matrix of the manipulator is a diagonal 3×3 matrix, thus it is uncoupled. Isotropic design was performed according to the requirement that the conditioning number of Jacobean matrix was always equal to 1. The condition of structural size, which satisfies the manipulator to be a fully-isotropic one, is obtained.

Key words: parallel robotic manipulator, kinematics analysis, fully-isotropic, conditioning number

摘要：

提出了一种新型二移动一转动的三自由度空间并联机器人机构，分析了其位置和速度的正逆解析解，讨论了机构的奇异性。由于该机构的雅可比矩阵为3×3阶对角阵，因此该机构为无耦合并联机构。根据机构雅克比矩阵条件数恒等于1的条件，对机构的各向同性进行设计，得到了具有完全各向同性特性的机构结构尺寸条件。

关键词: 并联机器人机构, 运动分析, 完全各向同性, 条件数