中文摘要：

研究一种新型3-RRUR并联机器人,这类并联机器人结构简单对称,刚度大,可用于实现高精度装配,也可用来开发力传感器或构造并联机床以及微动机器人,且分支中不含移动副,便于使用维护。首先利用螺旋理论,建立分支运动螺旋系,然后求解各分支对运动平台的约束螺旋,分析约束螺旋系,在此基础上确定3-RRUR并联机器人的自由度数是4,自由度性质为三维移动和一维转动,转动轴线垂直于固定平台与3个分支相连接的运动副轴线所在的平面。再以反螺旋理论为基础,采用刚化驱动运动副后分析运动平台所受约束性质和约束相关性的方法,给出合理的输入方案。并结合自由度性质分析,建立约束方程,进行运动学正反解,给出相应的算例。研究结果将对推动此类机器人的应用起重要作用。

英文摘要：

A novel 3-RRUR parallel manipulator is studied. The mechanism having high stiffness and symmetric simple structure can be applied to high precision assembly or used to constitute force sensor or parallel machine tool and micromotion parallel manipulator. It is easy to check and repair when using the 3-RRUR parallel manipulator for there is no moving pair in its limbs. Firstly, the screw system expressing the movements of each limbs is set up by the use of screw theory. The constraining screw system is built up. Then, its degree of freedom and moving characteristics are solved by researching the constraining screw system. The degree of freedom is 4, there are 3-dimensional motions and 1-dimensional rotation around axes vertical to the plane where the axes of kinematic pairs joining every limbs and the fixed platform lie in. In succession, the rationality of the input joints chosen is discussed with the aid of reciprocal screw theory and the method of analyzing the characteristics and the relativity of the co nstraints to the moving platform after adopting stiffened driving of the moving pairs. Then the constraint equations are obtained considering its moving characteristics and the forward and inverse position kinematics solutions of the mechanism and corresponding numerical examples are given. The research result will play an important role in pushing forward the application of this kind of manipulators.