新型三自由度并联机构工作空间分析

摘要

With the development of parallel mechanism technology, imperfect-DOF parallel mecha-nism has attracted more attention due to their simple in structure,easy in control,etcMoreover,they have much wider application foreground in the industrial sector.For solving the problem of small workspace of the parallel manipulator,a novel 3-DOF parallel robot was investigated,which workspace symmetrically distributes on both sides of the fixed platform.Based on analyzing the structural characteristics, the inverse solution of the kinematics equation for the moving platform is deducedAccording to the constraint conditions,the boundary diagram of workspace on section Z and the three dimensional chart are plotted through numerical method.And the effects of the design parameters on the workspace volume are studied quantitatively.%随着并联机构技术的发展,少自由度并联机构由于具有结构相对简单,控制容易等优点,逐步成为机构学领域新的研究热点,在工业领域有着广阔的应用前景.针对并联机构工作空间较小的特点,对一种新型三自由度并联机构进行研究.该机构的工作空间对称分布于定平台的两侧.在分析其结构特点的基础上,推导出其位置反解方程.根据约束条件,采用数值方法绘制出工作空间的三维立体图和Z截面上的边界图.并定量分析了机构设计参数对工作空间大小的影响.