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介绍了一种能实现一维平动和二维转动(2R1T)空间并联机构。首先,运用螺旋理论分析了该并联机构实现2R1T运动机构学原理,计算出该机构的自由度;然后,建立该并联机构的位置方程,解出其位置正、逆解;最后,通过一组数值实例验证了位置正逆解的正确性。该机构是由3条完全相同支链组成的并联机构,结构比较简单,是对S类并联机构的重要补充,可应用于工业机器人、并联机床、位姿调整器和少自由度微型模拟器等领域。
A parallel mechanism that can realize one-dimensional translation and two-dimensional rotation (2R1T) space is introduced. Firstly, the principle of 2R1T kinematics is analyzed by spiral theory, and the degree of freedom of this mechanism is calculated. Then, the position equation of this parallel mechanism is established to solve the positive and inverse solutions of the mechanism. Finally, The example verifies the correctness of the forward and inverse solution. The mechanism is composed of three identical branches of the parallel mechanism, the structure is relatively simple, is an important complement to the S-type parallel mechanism, can be applied to industrial robots, parallel machine tools, posture and less degree of freedom micro-simulator field.