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中文摘要：
对具有三条RRP分支运动链的3-RRP球面三自由度并联机构进行了逆运动学分析.该结构比较简单,可应用于工业机器人、并联机床、位姿调整器和少自由度微型模拟器等领域.提出运用Rodriguez参数对并联机构末端运动进行更简单、快速描述的新思路,建立了3-RRP并联机构的位置逆解模型和雅可比矩阵,并由笛卡尔坐标的离散化对机构的工作空间进行了分析.研究结果为进一步研究此种并联机构的刚度分析、动态性能、机构优化设计和系统控制等都有非常重要的意义.
英文摘要：
It addressed the inverse kinematics analysis of a 3-DOF 3-RRP spherical parallel manipulator, which had three sub-chains. This structure is simpler and the parallel mechanism that can be applied in the fields of industrial robots, parallel machine tools, posture adjuster and less degrees of freedom micro-simulator.The use of Rodriguez parameters provides a more simple, quick description of new ideas for the parallel mechanism. The inverse displacement analysis as well as Jacobian matrix was proposed. A t last, by performing a numerical discretization of the Cartesian space it determined the workspace. The results can provide necessary information for stiffness analysis, dynamic performance analysis, optimization design and control of the 3-RRP parallel mechanism.
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