Journal of Engineering Research
Journal of Engineering Research. 2025; 4: (9) ; 10.12208/j.jer.20250417 .
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南昌职业大学 江西南昌
*通讯作者： 刘平安,单位：南昌职业大学 江西南昌；
针对一种空间纯转动的并联机器人3-CRC，基于空间两轴线始终保持垂直的位置关系特点，求得该机构的位置反解显式表达式。利用析配消元法得出位置正解的求解方法。最后带入数值计算得出动平台在平稳运动状态下输入关节的运动曲线。
A 3-CRC parallel mechanism with three pure rotations is presented in this paper. Its positional inverse expression has been established based on the special position in which two spatial axes are vertical to each other, and the forward kinematical solution is also obtained with Sylvester’s elimination approach. Finally, a case study is provided with the position curve of the driving joints to verify the validity of the analysis.
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