中文摘要：

提出一种可实现SCARA运动的新型4自由度高速并联机器人的动平台,采用双螺旋齿轮传动原理,将两相对支链驱动转化为末端的自转运动。针对该机器人的动力尺度综合问题,在建立运动学和刚体动力学模型基础上,利用直接和间接雅可比矩阵的行列式,构造出两类揭示机构奇异状态并定量描述机构链内与链间的力传递特性的空间压力角。基于可反映系统动力学特性的性能评价指标,在几何约束和力传递性能约束条件下,借助多目标优化的方法获得可保证机构运动学和动力学性能的最优尺度参数。

英文摘要：

A new moving platform was proposed for a 4-DOF high-speed parallel robot,which can generate SCARA mo- tions, by using the double helix gear transmission to realize the rotation of the effector. Aiming at the problem of dynamic dimen- sion synthesis of the robot ,the kinematic and simplified dynamic model was formulated. Two space pressure angles ,representing the singularity and the force transmission performance within and between the drive chains, have been defined using the deter- minant of direct and indirect Jacobian matrices. Using the dynamic performance indices,which guarantee the kinematic and dy- namic performance,the multi-objective optimization method has been employed to get the optimal dimensions based on geomet- ric constraints and force transmission performance constraints.