According to theory of the structure type synthesis of parallel robot mechanism, a spatial 3-DOF parallel mechanism with ability of realizing one translation and two rotation was proposed. Based on SOC unit and theory of POC matrix, a topology structure characteristics analysis and position analysis were given. Its forward and inverse position solution equations were established. And the decoupling analysis and singular configuration analysis were also given. There was a workspace analysis at last. This mechanism is easy to control and plan trajectory, with a good prospect in applications of ship stable platform and etc.%根据并联机器人机构结构综合理论,提出一种能够实现空间一平移两转动的三自由度并联机构.以单开链单元和方位特征集理论为基础,对机构进行拓扑结构特征的分析和位置分析,建立了位置正逆解的方程,然后进行了解耦性和奇异位形的分析,最后对其工作空间进行分析.该机构易于控制和轨迹规划,在船舶稳定平台等领域有良好的应用前景.
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