具有部分运动输入-输出解耦性的并联机构的设计与分析OA

To address the problem of complex derivation process for forward and inverse kinematic so-lutions in existing mechanisms,a 3T1R spatial parallel mechanism with partial motion decoupling and sim-plified derivation procedures is designed.This study accomplishes the following main contributions:analy-sis of the orientation feature set and degrees of freedom of the mechanism;verification of its capability to a-chieve three-translation and one-rotation motion output,and establishment of the forward and inverse kinematic equations.The computational processes for both forward and inverse solutions are relatively straightforward.The correctness of the derived equations is validated through numerical examples,demon-strating the partial motion input-output decoupling characteristics.Based on the inverse kinematic equa-tions,the reachable workspace of the parallel mechanism was obtained,and the results showed that the workspace was well-shaped,symmetry and sufficiently large.The kinematic analysis was performed using SolidWorks and ADAMS software,yielding graphs of positional and angular angle variations,which indi-cate favorable kinematic performance of the mechanism.