中文摘要：

针对一种新型6-（P-2P-S）并联机器人,介绍了该并联机器人初始正交位姿部分运动解耦的结构特点,推导出广义速度和系统内各刚体运动速度的运动学传递关系。应用拉格朗日方法分别对运动平台、连杆和驱动杆进行动力学计算,建立了该并联机器人的动力学模型。该并联机器人动力学模型是一个多变量、变参数的非线性系统,完整编写了该动力学模型的仿真程序,进行了逆动力学仿真实例分析,研究了驱动力变化规律,验证了该机构部分运动解耦的结构特点,进而为该并联机器人的控制策略研究提供参考。

英文摘要：

According to a novel 6-（P-2P-S） parallel robot,the structural characteristics of part motion decoupling on the orthogonal pose were introduced.The kinematics transmitted relation between generalized velocity and motion velocity of rigid system was deduced.By the Lagrange methods,the dynamic equations of the moving platform,the linkages,and the driven legs were calculated respectively,and the dynamic model of the parallel robot was established.The dynamic model of the parallel robot was a multivariable,variable parameter nonlinear system,about which the complete simulation program was compiled.Based on some examples of inverse dynamic simulation,the change law of driving forces were studied,and the structural characteristics of part motion decoupling were verified,which could be used as the valuable reference of control strategy study.