基于灵巧特性的三平动并联机构的尺度综合研究

摘要

A novel 3-PUU parallel manipulator considering the mechanism of dexterity property was addressed .Kinematics analy-sis of the parallel manipulator was established , and the inverse solutions of the kinematics of the 3-PUU parallel manipulator were ob-tained.Based on the previous works , the Jacobian matrix of the mechanism was deduced .The kinematic dexterity index was intro-duced, and the dexterity of the parallel manipulator of dimensional synthesis analysis was carried out , which laid the foundation for the design of the parallel manipulator mechanism and the further study .The results show that the parallel manipulator robot has a good prac-tical application prospect .%考虑机构的灵巧性提出一种新型3－PUU并联机器人，对该并联机构进行运动学分析，得到了3－PUU并联机器人的运动学反解，在此基础上，建立了并联机构的雅可比矩阵；引入运动灵巧性指标。对该并联机器人的运动灵巧性进行了尺度综合分析，为并联机构的构型设计和进一步提供了依据。研究结果表明，该种机器人具有较好的实际应用前景。