3T型并联机构的结构降耦设计及拓扑特征运动学分析

打开文本图片集

中图分类号：TH112 文献标志码：B 文章编号：1671-5276（2025）06-0078-07

Abstract：According tothe principleforstructure coupling-educing of paralel mechanism，the topologycoupling-reducing is conductedontheexistingthree-translationalPM，andthemaintopological featuresofpostdecoupled mechanismsuchas position and orientation characteristic，degree of freedom remaining unchanged and coupling degree k decreasing from 1 to are analyzedandverified.Basedontheprincipleof kinematicmodeling basedontheordered singleopenchain，the highdegree closed-formequationaboutthedirectkinematicsofthePMisobtained，andtheclosed-formsolutionoftheequationisdeduced. Equationsofinversekinematicsarederived.Theworkspaceandsingularpositionsof themechanismareanalyzedunderthegiven parameters.Through thestructurecouplingreduction，theclosed-formsolutionofthedirect kinematicsisobtained，which provides the basis for the subsequent dynamic analysis and trajectory planning and control of the mechanism.

Keywords：paralel mechanism；coupling degree；kinematics analysis；closed-form solution；workspace

0 引言

对于并联机构而言，运动学正解相较于逆解分析起来更加复杂和困难，而运动学正解在运动学分析中又具有十分重要的地位，它是并联机构进行动力学分析、运动规划和运动控制的前提。（剩余8078字）