中文摘要：

提出一种新的计算机辅助变量几何法,用于实时求解一个3自由度3-UPRR并联机器人在模拟加工一个3D自由曲面过程中,各个驱动杆以及末端运动平台的速度/加速度解。首先,基于计算机辅助变量几何法建立3-UPRR并联机器人的模拟机构,并在此基础上建立用于加工任意3D自由曲面的模拟加工系统;其次,基于同一个固定平台构造其速度模拟机构以及加速度模拟机构;最后,求解出在加工3D自由曲面过程中实时的速度和加速度。经解析验证,模拟得到的结果完全正确。计算机辅助变量几何法不仅简单直观,而且省去了复杂编程的过程。

英文摘要：

A CAD variation geometry approach is proposed to solve the inverse and forward velocity/acceleration of the active legs in a 3-dof 3-UPRR parallel robot. The simulation mechanism of this parallel robot is created based on the CAD variation geometry approach, and the machining system is created for machining a 3D free-form surface. Then, the velocity and acceleration simulation mechanisms based on the same principles are created. Finally, the extension and the velocity/acceleration of the active legs and the platform of the parallel robot are solved in real-time during the simulation machining of the 3D free-form surface. The simulation solutions are verified by an analytic approach. The CAD variation geometry approach is verified to be simple and straightforward without any need of compiling program.