一类新型三平移并联机器人机构的位置分析

分析了一类新型三平移并联机器人机构，求得真正逆运动位置的解析解，较之已有的三平移并联机构，此类机构不仅位置分析解数低，求解容易，而且正解还具有一定解耦性，机构运动的解耦性与机构的拓扑结构、尺度型、主动副的选择等多种因素有关，本文研究的新机构采用特殊的几何配置极好地敢并联机构多支路对称布置时不利于解耦、易多出非独立输出运动项的弊端，同时，发现C，P副的采用可降低运动求解特征数（方次），而将C副中的线性移动作为主动输入其解耦程度优于将旋转运动作为主动输入，机构运动的解耦性为并联机器人的实时控制与规划提供了有利基础。

Position Analysis for a Class of Novel 3-DOF Translational Parallel Robot Mechanisms

A class of new 3-DOF parallel robot mechanisms is investigated. Closed-formed solutions are developed for both the forward and inverse kinematics. Compared with available 3-DOF parallel robot mechanisms, these mechanisms are not only simple in structure with fewer solutions for position analyses but also decoupled. The mechanism decouplity is related to the topological characteristics, dimensional parameters, kinematic joint types and the choice of input-joints. Usually multi-limb mechanisms cannot be decoupled when their limbs are arranged symmetrically. Mechanisms analyzed in this paper overcome such a defect since their limbs are arranged specially. Moreover, it is found that P-joints included in the C-joints can improve the kinematics decouplity when they are input-joints. The mechanism decouplity is very useful for real control and path planning of parallel robots.