多种方法分析二自由度球面并联机构位置正反解

摘要

分析了球面并联机构的结构特点和应用方向,以二自由度球面并联机构为例,建立其三维模型以及运动学模型,利用螺旋理论给出自由度分析方法,并分别用欧拉角公式、螺旋理论、矢量分析法等多种理论分析二自由度球面并联机构正反解模型,为后续的动力学分析及控制系统开发提供理论基础.%This paper analyzes the structural characteristics and application of the spherical parallel mechanism. It also takes the 2-DOF spherical parallel mechanism as an example to establish the three-dimensional model and kinematic model and uses the screw theory to give out the analysis method of the degree of freedom and uses euler formula,screw theory and vector analysis to analyze the forward and inverse position model of the 2-DOF spherical parallel mechanism.The theoretical basis is provided for the dynamic analysis and development of the control system.