中文摘要：

以自主提出的PU-RCRR-CRRR两转动一移动解耦并联机构为研究对象,针对虎克铰的运动副间隙,结合Lankarani-Nikravesh接触力模型与牛顿-欧拉法建立了机构动力学模型;分析了机构的动态响应,并通过Poincare映射以及最大李雅普诺夫指数对机构混沌现象予以辨识。研究结果表明,含间隙的两转动一移动解耦并联机构的动力学响应中确实存在混沌现象。

英文摘要：

Taking a two rotational and one translational decoupled parallel mechanism PU-RCRRCRRR proposed independently as research object,aiming at the clearances existing in the Hooke joints,and combining Lankarani-Nikravesh contact force model and Newton-Euler method,the mechanism dynamics model was established.The dynamic responses were analyzed,in addition,the chaos phenomenon contained in the mechanism was identified with Poincare map and the largest Lyapunov exponent.The results indicate that chaotic phenomena exists in the dynamic responses of the two rotational and one translational decoupled parallel mechanism concerning clearances.