一种三转动并联机构的运动学及解耦性分析与仿真
Kinematics and decoupling analysis along with simulation of a 3-DOF rotational parallel mechanism

对一种支链含等速万向节的RRR-PaRRS-RHJ型三转动并联机构的运动学及其解耦特性进行分析. 首先，对机构进行运动特性分析和自由度计算. 然后，通过构件间的几何关系对机构进行运动学分析，给出机构位置正、逆解析解，推导出机构在定坐标系和动坐标系下的速度雅克比矩阵，根据雅可比矩阵分析此机构在不同坐标系下表现的不同耦合性. 最后，运用ADAMS软件进行运动学仿真，验证了理论分析的正确性.
This paper analyses the kinematics and decoupling performance of a RRR-PaRRS-RHJ type 3-DOF rotational parallel mechanism with a special chain containing homokinetic joints. Firstly，the motion output characteristic is investigated and the degree of freedom is calculated. Kinematics are analyzed by the geometric relationship between the components of the mechanism. Both the forward and the inverse analytical solutions of the moving platform’s position were obtained，the Jacobian matrixes under the fixed coordinate system and moving coordinate system are derived. According to Jacobian matrix，the coupling performance of mechanism in different coordinate systems is analyzed. Finally，the kinematic simulation of this mechanism was performed by ADAMS． As a result，the correctness of theoretic analysis is proved