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中文摘要：
提出了一种弱耦合空间三自由度并联机构,机构动平台具有二维移动和一维转动自由度,3个主动副均位于静平台上。分析了其位置的正、逆解析解,建立了机构驱动关节速度和动平台速度之间的矩阵映射关系,并对位置和速度的逆解进行了仿真。根据机构奇异性分类,讨论了各种奇异位形存在的条件。
英文摘要：
A novel weakly-coupled spatial parallel manipulator with three degrees-of-freedom （DOFs）, containing two-translational and one-rotational （2T1R） DOFs, was addressed. The manipulator consisted of a moving platform and a fixed base connected by two limbs, in which one limb contained a planar five-bar closed loop, and another included a planar parallelogram. Three actuated joints of the manipulator were all mounted on the base. Analytic solutions of position for both direct and inverse kinematics were derived. The mapping relationship between the actuated joints velocity vector space and moving platform velocity vector space has been established. Simulation curves of the inverse solutions of position and velocity were described. The conditions of each kind of singularity configurations of the manipulator, according to the classification of singularity, were discussed in detail, and a theoretic basis for path planning and control of the mechanism was provided. The manipulator proposed here, has widely potential application in the fields of parallel machine tools, simulators and massage robots.
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A new method for the determination of the zero velocity region of the Karnopp model based on the sta
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