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针对提出的一平移两转动全解耦并联机构易产生奇异位置及工作空间较小等不足,通过改变支链两移动副的位置,得到了一种改进型全解耦性质、自由度及运动输出保持不变的一平移两转动并联机构;给出了其运动位置的正逆解析解,得到并分析了工作空间形状及大小;与原机构在正逆解数、解耦性与工作空间形状及大小等进行了比较,证实改进型机构为一种优选机型,更适合于用作虚轴坐标测量机、机床及其他运动平台的实用机型。
Aiming at the shortcomings of the proposed one-translation two-turn all-decoupling parallel mechanism and the shortage of working space, an improved full decoupling property, degree of freedom and motion output are obtained by changing the positions of the two branches. A parallel translation and translational parallelism mechanism with constant translation is given; the forward and inverse analytic solution of the motion position is given, the shape and size of the working space are obtained and analyzed; the relation between the positive and inverse coefficients, decoupling and the shape and size of the working space Etc., confirmed the improved mechanism as a preferred model, more suitable for use as a virtual axis coordinate measuring machine, machine tools and other sports platform of practical models.