针对目前并联机构在工程应用中暴露出的灵活性差、关节误差大、运动学正解模型强非线性耦合等现状,提出一种四面体构型的新型冗余并联机构.运用螺旋理论分析机构的自由度和奇异特性,运用拓扑理论定量地给出机构的耦合特性,运用三点法推导机构的运动学正解,并通过求解约束方程的最小范数解对误差进行补偿.结果表明,该并联机构的运动学性能优越.研究结果为四面体构型的冗余并联机构的进一步稳定、实时、精确控制提供了有力的条件.%According to the actuality that practical application of parallel mechanism is limited by less flexibility, large joint errors, and strong nonlinear coupling, a new redundant parallel mechanism based on tetrahedral configuration was proposed. The degree of freedom and singularity behavior of the mechanism were both analysed based on the theory of reciprocal screw. Coupling characteristics were given quantitatively by the method of topology. Three—point method was used to derive the analytical expression of forward kinematics, and the errors were compensated by obtaining the minimum norm solution of constraint equations. Above results show that kinematics characteristics of the proposed parallel mechanism are superior, which provide forceful conditions for further controlling steadily, in real —time and accurately.
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