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2T1R弱耦合并联机构的运动学和奇异性分析

, PP. 132-136

Keywords: 并联机构,运动学分析,奇异性

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Abstract:

提出了一种弱耦合空间三自由度并联机构,机构动平台具有二维移动和一维转动自由度,3个主动副均位于静平台上。分析了其位置的正、逆解析解,建立了机构驱动关节速度和动平台速度之间的矩阵映射关系,并对位置和速度的逆解进行了仿真。根据机构奇异性分类,讨论了各种奇异位形存在的条件。

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