一种新型球面三自由度串联机构

摘要

A novel 3-DOF RPR serial spherical mechanism was proposed herein for orientation operation on a spherical surface. The kinematic analysis and workspace of the proposed mechanism was also investigated. After setting up D- H coordinate system on the mechanism, the forward and inverse position solutions of the mechanism were explored. A numerical example of inverse solution was presented. Furthermore, the workspace of the mechanism was investigated with Monte Carlo method. The workspace maps of the mechanism were presented in two--dimension and three-dimension respectively.%提出了一种新型的三自由度RPR球面串联机构，并对该机构的运动学与工作空间问题进行了分析。通过D—H坐标变换建立了机构的位置方程，求出了位置正反解表达式，并给出了位置反解的数值实例。运用蒙特卡洛法对机构的工作空间进行了分析，给出了二维和三维形式的机构工作空间图。