关键词: 并联机构, 改进Delta机构, 运动学分析, 位姿正反解, 仿真

Abstract: Based on the improved Delta/2-R mechanism, a new mechanism integrating independent translation with rotation is presented. An inverse solution is derived to all the poses of the mechanism by way of simple transformation of homogeneous coordinate and matrix operation without complicated mathematic derivation, thus enabling its programming to be easier. The 3-D analytical geometry and vector algebra are introduced into the normal kinematic solution so as to avoid the numerical solution to algebraic equation sets and option of multiple solutions for conventional parallel mechanism. With the virtual prototype software ADAMS, the movement of the mechanism was simulated to verify the correctness of both the normal and inverse kinematic solutions to the mechanism proposed. Owing to its big work space, high location accuracy, favorable micro-motion performance and low cost of manufacture/control, the new parallel mechanism is regarded as applicable to pick-place manipulator, inspection robot and laser cutting machine tool. So, it has good prospects in industrial applications.