并联式混合驱动机构运动学和传递性能分析

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中图分类号：TP182DOI：10.3969/j.issn.1004-132X.2025.08.008 开放科学（资源服务）标识码（OSID）：

Abstract： To expand the application scopes of parallel mechanisms，a 3-RPRR（PRRRP） RS parallel mechanism that might achieve high-medium-low frequency hybrid driving was proposed，and the input rationality was analyzed based on screw theory.A set of pose solution models that might achieve hybrid driving were obtained through the driving locking method，and a motion description of the hybrid driving unit was established based on the generalized screw. The first-order influence coefficient matrix of the mechanisms was derived，and a set of numerical examples were used to achieve mutual verification between theory and simulation. The global transmission performance indicators of the mechanisms under hybrid driving were elucidated，and size optimization was caried out based on genetic algorithm. The results show that the global transmission performance of the mechanisms under low-frequency，medium frequency，and high-frequency driving was improved by 11. 78% ， 9.94% ，and 9.44% respectively.

Key words：high-medium-low frequency hybrid drive；parallel mechanism；screw theory；generalized screw；global transmission performance

0 引言

并联机构具有高刚度、大承载、无累积误差等优点，广泛应用于工业和特种领域。（剩余15049字）