中文摘要：

针对传统柔顺关节运动范围小、易产生轴向漂移的不足，依据3RRR并联机器人运动范围，以关节的移动范围及所需刚度作为条件，对关节的几何尺寸进行了设计计算，并用ANSYS软件进行强度分析，设计了一种新型开槽式薄壁柔顺关节。利用扭转作为主要变形方式时，该柔顺关节具有扭转角度可达到36°及轴线相对固定不易漂移的优点。根据关节设计尺寸选择65Mn为材料进行了加工，在三自由度并联机器人实验平台上进行了片簧式与开槽式两种柔顺关节的实验对比，实验结果表明设计的开槽式薄壁柔顺关节能够完成轨迹跟踪任务，且最大相对误差为6.05%，对比片簧式柔顺关节具有一定优越性。

英文摘要：

Limited motion range and easily happened rotation axis drift are the main disadvantages of traditional flexible joint of parallel robot. In order to promote the performance of flexure joint, a new design of open thin-walled flexure joint was proposed. According to the range of motion of 3RRR parallel robot, the geometry of joint was calculated by using the motion range of joint and the required joint stiffness as design parameters. And the structure strength of joint was analyzed via ANSYS. Torsion is the deformation mode of the open thin-walled flexure joint. The advantages of 36 degrees motion range and fixed rotation axis are presented in this joint. The practical joint is made of 65Mn spring steel according to the designed joint geometry. The contrast experiments between leaf spring and open thin-walled flexure joints were carried out on a three DOF parallel robot experiment platform. The results show the designed open thin walled flexure joint can accomplish trajectory tracking missions and the maximum relative error is 6.05%. Its superiority over the leaf spring joint is presented by the results.