新型大转角2T2R并联机构的设计与分析

针对大尺寸细长结构部件的加工需求，提出了一种新型五自由度混联机器人，并对机器人中新型大转角2T2R并联机构模块进行了研究分析。首先，应用螺旋理论计算出了2-UPS&（2-RPR）R并联机构的自由度，并应用修正的G-K公式进行了验证；其次，应用封闭矢量方程对机构进行了运动学分析，建立了运动学正反解模型，并计算出了雅可比矩阵；然后，利用机构的约束条件，绘制了机构的工作空间；然后，应用线速度各向同性指标和角速度各向同性指标对机构的灵巧性进行了分析；最后，通过给定轨迹进行运动学仿真。通过分析，验证了该机构的可行性和实用价值，为新型五自由度混联机器人的应用奠定了基础。 

Design and analysis of a new large rotation angle 2T2R parallel mechanism

In order to meet the requirements of large and slender structural components, a new type of 5-DOF hybrid robot is proposed, and the new large rotation angle 2T2R parallel mechanism module in the robot is analyzed and studied. Firstly, the degrees of freedom of 2-UPS & (2-RPR)R parallel mechanism are calculated by using the screw theory, and the modified G-K formula is used for verification. Secondly, the closed vector equation is used to analyze the kinematics of the mechanism, the forword kinematics model and inverse kinematics model are established and the Jacobian matrix is calculated. Then, the workspace of the mechanism is plotted with the constraint conditions of the mechanism. Then, the dexterity of the mechanism is analyzed with linear velocity isotropic index and angular velocity isotropic index. Finally, the kinematic simulation is carried out by the given trajectory. Through analysis, the feasibility and practical value of the mechanism are verified, which lays a foundation for the application of the new 5-DOF hybrid robot.