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中文摘要：
并联机构动平台姿态描述的方法有多种,不同描述方法给机构运动学分析的难易程度带来不同的影响,所以选取合适的姿态描述方法对机构分析非常重要。并联机构的动平台可视为受约束的刚体,而描述刚体姿态的方法之间存在着内在联系,所以揭开刚体姿态不同描述方法之间的内在关联性,有助于选取合适的刚体姿态描述方法。对并联机构动平台绕两相交轴线的转动关系进行了分析,得出动平台绕某一轴线转动一定角度后其相对动平台法线的耦合转角,并得到了该角度的解析表达式;基于动平台姿态不同描述方法,得到动平台绕其平面内两相交轴依次转动后,绕动平台平面法线的耦合转角及其解析表达式。确定了动平台不同姿态描述方法的内在联系,对具有两转动自由度并联机构的姿态描述方法的选择原则进行了合理分类,该结论适用于大多数具有两转动自由度并联机构姿态描述方法的选取原则。
英文摘要：
For the parallel mechanisms,there are multiple methods to describe the pose of the mobile platform.Different description methods will bring different effect on the kinematics analysis,so it is pretty important to select the appropriate description method.The mobile platform can be regard as the rigid body with constraints.As the different description methods of the rigid body have some internal relations,it is necessary to find the internal relations which will be useful to select the appropriate description method.When the mobile platform plane rotates a certain angle around one axis which is not normal to the plane,it will have a coupling angle around the normal of the plane,and this angle analytic expression is obtained.On the basis of the different description methods,the coupling angle around the normal and its analytic expression are identified after the rigid body successively rotating around two axes which lie in the mobile platform plane.The internal relations among the description methods are found; then aiming at the mobile platform with two rotational degrees of freedom,the reasonable selection principles are established.This conclusion applies to majority mobile platforms with two rotational degrees of freedom.
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