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中文摘要：
提出一种新型三自由度完全解耦移动并联机构，机构的三条分支中各包含一个平行四边形结构，推导出该机构运动位置和速度的正、逆解析解，讨论了机构主动副的移动范围，并根据机构正、逆雅可比矩阵的奇异性对机构奇异位形进行了系统地分析。由于在整个运动过程中机构雅可比矩阵为三角阵，因此机构为完全解耦并联机构，这使得机构在控制和轨迹规划等方面较为简单。此外，分支中平行四边形结构增加了机构的刚度。该机构在坐标测量机和虚轴机床等方面具有广阅的应用前景。
英文摘要：
A novel three-degrees-of-freedom fully-decoupled translational parallel mechanism, in which every limb contains a parallelogram, is presented. The analytic equations of the direct and the inverse kinematics are derived. The moving range of the actuated prismatic joints is discussed. Furthermore, the singular configuration of the parallel manipulator trices. Because fuUy-decoupled is analyzed systematically in terms of the singularity of both the direct and the inverse Jacobian matriees.Because Jacobian matrix remains a triangular matrix throughout the entire workspace, the mechanism is a one. Thus, it is simpler in aspects of control and path planning of the mechanism. In addition, the existence of the parallelogram in the limbs increases the stiffness of the manipulator. Therefore, the manipulator has a potential wide range of applications in coordinate measuring machine, virtual machine tool and others.
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A new method for the determination of the zero velocity region of the Karnopp model based on the sta
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