空间缩放式六自由度并联平台机构及位置分析

A PANTOGRAPH 6 DOF PARALLEL PLATFORM MECHANISM AND ITS DISPLACEMENT ANALYSIS

摘要: 本文提出了一种以缩放机构为分支的新型六自由度空间并联机器人机构模型．文中讨论了它的机构学特点，给出了位置反解的方法，推导出了位置正解的8次封闭解法，并进行了数值验证．

Abstract: A mechanism model of a 6 DOF parallel manipulator which has three pantograph limbs is presented. The degree of freedom and the characteristics of the mechanism model are discussed. The reverse and forward displacement analysis are carried out, and the numerical examples are given.