一种新型3 T1 R并联机器人的拓扑结构设计及运动学分析

摘要

提出了一种新型三平移一转动并联机器人。采用方位特征理论( POC)分析了机构的拓扑结构特征，运用Yang－Sun方法计算机构的自由度并确定了机构的运动特征。建立了运动学模型，根据构件的空间几何关系，列出了该并联机构的运动学方程。求出机器人的位置反解和正解。该方程也为该机构作进一步的运动学动力学及优化设计研究打下基础。%This paper designs a new 3T1R paral el robot. Its topological features are analyzed by POC and the DOF and the kinemat￣ic features of the 3T1R paral el robot are insured by the mean of Yang-Sun notation. The proper kinematic model is established and the kinematic equation of 3T1R paral el robot is set up according to the relation of the spatial robot components. Then the inverse so￣lution and forward solution of this 3T1R paral el robot are calculated by the kinematic equations which are used to lay the foundation of further studying its kinematics and optimizing its design.