完全解耦二移动二转动并联机构结构综合

基于混联机构概念和互易螺旋理论提出了完全解耦二维移动二维转动（2T2R）并联机构结构综合的方法，得到106种机构。综合出的机构有两条分支运动链直接与动平台和静平台相连，其中一条为单开链，另一条为混合链。所有机构速度雅可比矩阵均为对角阵，即动平台的输出速度与4个主动副的输入速度之间存在一一对应的映射关系，故此类机构运动学解完全解耦，克服了一般并联机构耦合性强、控制复杂的弱点。

Structural Synthesis of Fully-decoupled Two-translational and Two-rotational Parallel Mechanisms

Based on the concept of hybrid mechanism and reciprocal screw theory, a method of structural synthesis of fully-decoupled two-translational and two-rotational (2T2R) parallel mechanisms was proposed and 106 parallel mechanisms were obtained. All mechanisms synthesyzed in this paper consisted of two limbs which were connected with the moving platform and the fixed base. One limb was a single open kinematic chain and another was a hybrid chain. Jacobian matrix of each mechanism was diagonal and there existed a one-to-one mapping relationship between the output velocity of platform and input of actuated joints. Therefore, these parallel mechanisms were fully-decoupled on kinematic solutions, which could avoid some drawbacks of the general paprallel mechanisms in terms of high coupling and complicated control design.