中文摘要：

从平面3-ERR并联机构的位形和关节驱动两方面,研究了位形的奇异性和驱动 电机的祠服增益对机器人自激振动现象的影响. 首先建立了平面3-ERR并联机构的运动 约束方程,求导得到速度约束方程和加速度约束方程,给出位置、速度、加速度的正、逆解, 利用速度雅可比矩阵分析奇异特性;然后搭建了实验系统,分析驱动电机的控制原理,分 别测试在奇异位形和非奇异位形的自激振动,通过传感器测试驱动关节的位移、速度和加 速度,并进行正解得到动平台的位置和加速度,正解得到的加速度与动平台实测加速度吻 合较好;最后通过调整驱动电机的祠服增益避免了非奇异位形处的自激振动.

英文摘要：

Dealt with in this paper are the effects of singularity configuration and servo gain of drive motors on the self-excited vibration of planar 3-RRR parallel manipulator. Firstly, the kinematics constraint equation of the planar 3-RRR parallel manipulator was established, and the velocity constraint equation as well as the acceleration con-straint equation was obtained via derivation. Meanwhile, the forward and inverse solutions of position, velocity and acceleration are analyzed. Secondly, the singularity was measured by using the velocity Jacobin matrix. Then, an experimental system was established to test the self-excited vibration respectively in singular and non-singular con-figurations after analyzing the control principle of drive motors. Moreover, the input position, velocity and accelera-tion of active joints were tested by sensors, the position and acceleration of the moving platform were obtained via forward kinematics, and the obtained acceleration of the moving platform accord with the test one well. Finally, the self-excited vibration in non-singular configurations was successfully avoided by adjusting the servo gain of drive mo-tors.