引用本文: 苑飞虎, 赵铁石, 刘晓, 耿明超, 陈宇航, 殷晶晶. 一种六输入三自由度并联平台机构分析[J]. 机器人, 2013, 35(4): 456-461.
YUAN Feihu, ZHAO Tieshi, LIU Xiao, GENG Mingchao, CHEN Yuhang, YIN Jingjing. Analysis on a Parallel Platform Mechanism with 6 Inputs and 3 DOFs[J]. ROBOT, 2013, 35(4): 456-461.
 Citation: YUAN Feihu, ZHAO Tieshi, LIU Xiao, GENG Mingchao, CHEN Yuhang, YIN Jingjing. Analysis on a Parallel Platform Mechanism with 6 Inputs and 3 DOFs[J]. ROBOT, 2013, 35(4): 456-461.

## Analysis on a Parallel Platform Mechanism with 6 Inputs and 3 DOFs

• 摘要: 提出一种六输入、动平台自由度为3的并联平台机构．对于动平台，输入是冗余的．引入协调构件，使机构的自由度为6，所以对于整个机构，输入是确定的， 避免了超确定输入协调控制的问题，同时使机构具有冗余驱动机构的优点．将动平台和协调构件的运动作为机构的广义输出，对机构进行了运动学分析， 建立了输入和广义输出的映射关系，得到了机构的1阶、2阶影响系数矩阵．应用虚功原理和达朗贝尔原理对机构进行了动力学分析，得到了动力学模型． 仿真结果表明，该并联平台机构具有承载能力高等特点，是设计重载并联机构的一种新的解决方案．

Abstract: A parallel platform mechanism is put forward, in which the number of inputs is six and the DOF (degree of freedom) of moving platform is three. The inputs of the mechanism are redundant for the moving platform. The DOF of the system is six as the coordination components are incorporated, and the inputs are determinate for the whole mechanism. So the problem of distribution of over-determinate inputs is avoided and the mechanism has advantages like redundant actuation mechanism. The generalized outputs of mechanism are the movements of moving platform and coordination components. By analyzing kinematics of the mechanism, the mapping relationship between inputs and generalized outputs is established, and the first-order and second-order influence coefficient matrix are obtained respectively. Based on the virtual work principle and D'Alembert principle, the dynamic model of the mechanism is built. The simulation results show that the parallel platform mechanism has the characteristics of high load carrying capacity. The method proposed is a new solution to design parallel mechanisms with heavy load carrying capability.

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