一种位置解耦 3pppaR 并联机器人机构工作空间分析与性能优化

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【Abstract】This paper investigates a thre-translational 3PRPaR parallel robot mechanism with closed-form forward position solutions.The decoupling characteristics were verified by using the theory of orientation characteristic sets. Kinematicequationswereestablishedtoderiveanalyticalexpresions forbothforwardandinversepositionsolutions.The workspace performance metrics were analyzed，and an improved spherical coordinate search algorithm was proposed to examine the dexterity distribution within the workspace.Acomprehensive performance objective—combining workspace volume ratioanddexterity—was formulated，transforming the multi-objective optimization problem intoa singleobjectiveoptimization task. Finally，a Genetic Algorithm （GA） was employed to optimize the structural parameters.The resultsshowthattheimprovedsphericalcoordinatesearchalgorithmexhibitshigheffciencyandaccuratelyidentifies void regions within the workspace.The optimized mechanism achieves superior overall performance.This work provids theoretical reference for the subsequent prototype development.

【Key words】 parallel manipulator; decoupling; spherical coordinate search algorithm; workspace; dexterity

[中图分类号]TN601 [文献标识码]A

[文章编号]1674-3229（2025）03-0082-09

0 引言

少自由度并联机构因其具有机械结构简单、制造成本低、控制相对简单等优点，在工业和生产领域展现出了广泛的应用前景[1]。（剩余7753字）