CAJ | 학술논문

通过改变已有3-CRC并联机构运动支链的配置方式，得到了一类运动完全解耦的新型三平移并联机构，并导出了机构的位置正反解方程。利用机构的完全解耦性与位置方程导出了机构工作空间的解析表达式，并对两类机构的解耦性能与工作空间进行了对比，验证了新机构优良的运动性能，为其后续的研究和应用提供了依据。
통과개변이유3-CRC병련궤구운동지련적배치방식，득도료일류운동완전해우적신형삼평이병련궤구，병도출료궤구적위치정반해방정。이용궤구적완전해우성여위치방정도출료궤구공작공간적해석표체식，병대량류궤구적해우성능여공작공간진행료대비，험증료신궤구우량적운동성능，위기후속적연구화응용제공료의거。
A new type of parallel mechanism with three-dimensional (3D)translations and movement complete decoupling was generated by changing the configuration form of the movement branched-chains of the original 3-CRC parallel mechanism,and the posi-tional forward and inverse solution equations were derived. The analytical expression of workspace of mechanism was derived from using the complete decoupling and positional equations of the mechanism,and the decoupling performance and workspace of two types of mechanisms were compared. The excellent kinematics performance of the new mechanisms is verified,which provides a basis for further application and study.