一种新型2T2R并联机构的运动学分析

摘要

分析一种新型的两移动两转动四自由度并联机构,该机构由两个RPU支链和两个SPS支链组成。首先基于李群理论计算机构的自由度和选取输入副,然后推导出动平台的位置、速度、加速度的正逆解析解。最后给出一数值算例,应用Matlab软件进行了运动学曲线分析,基于ADAMS软件对机构进行实体建模与运动学仿真,仿真结果与理论分析一致。%A novel spatial parallel mechanism with two translations and two rotations （2T2R） is analysized, which is composed of two adjacent RPU limps and two adjacent SPS limps. Firstly based on Lie group theory, the degrees- of-freedom （DOFs） of the mechanism is calculated and the input paires is ehoosen. And then the analytical solution of position, velocity and acceleration for the mechanism are deduced exhaustivlly . Finally, a numeric example is given ： a kinematic curve analysis is carried out by using Matlab, the virtual prototype model of the meahcnism is eonstrueted and kinematic simulation is eonducted by using Adams, kinematics simulation results is quite coincident with theoretical analysis. This work lay the foundation for the analysis of dynamics and control of the two translations and two rotations parallel mechanism, The present result provided theoretical basis for the analysis of dynamics and control, the design and practicality of the mechanism.