一种新型3-UPS/UPR并联机构运动学分析及应用
Kinematics Analysis and Application of a New 3-UPS/UPR Parallel Mechanism

在4-SPS/CU并联机构的基础上提出了一种具有空间3个转动和1个移动自由度的新型3-UPS/UPR并联机构。减少了原有机构的奇异位型和对结构参数的限制，使机构的控制方案得以简化；计算了该并联机构的自由度，对其进行了运动学分析，得出了该机构输入与输出之间的映射关系；给出了该机构的位置反解，导出了该机构运动的Jacobian 矩阵与Hessian 矩阵；分析了该机构的速度、加速度以及工作空间。将此机构运用于人形机器人的颈部关节处，并对机器人头部在完成指定运动形式时机构的运动学性能进行了分析。
A novel parallel mechanism of a 4-DOF 3-UPS/UPR that can perform one-dimensional translation and three-dimensional rotations is presented. The degree of freedom of the mechanism is calculated. The kinematics of the mechanism is researched making use of the mapping relation between the input speed of the drive spindle and the output speed of the platform. The forward and reverse solutions of position analysis are presented. The Jacobian and Hessian matrix of the mechanism is derived, and its velocity, acceleration performance and workspace are analyzed. The spatial parallel mechanism can be applied in robot neck, the kinematics performance of the parallel mechanism when the robot's head complete the movement are presented