摘要并联机构是一类全新的机构，它具有刚度大、承载能力强、误差小、精度高、自重负荷比小、动力性能好、控制容易等一系列优点。而高速二自由度并联机械手作为并联机构的重要组成部分，也具备这些特性，而且其自由度少、结构简单 、控制容易以及造价低廉等优点,在电子 、包装 、医疗等轻工业领域中有着广阔的应用前景。62922

   本文是以一种由平行四边形结构做连杆机构的高速二自由度并联机械手为研究对象，对该机构的进行了自由度分析及复杂机构的转化，重点分析了其运动学、工作空间以及结构设计，最后对三维装配图进行了仿真。

   首先，对该高速二自由度并联机械手机构进行了分析，再去除虚约束的情况下，采用平面机构自由度计算公式求得该机构的自由度，并与之后的仿真结果进行比较得出结论，该机构为二自由度平动并联机构。

   其次，在对原机构进行转化与简化的情况下，由五杆并联机构原理做出其运动学模型，进而对机构进行运动学位置正、反求解，速度求解及加速度求解。在此情况下，对机构工作空间设定参数并进行求解，得出机构的理论工作空间图。

   最后，在以上的理论及数据参数基础上，用SolidWorks软件做出机构的三维图，并进行组装，将组装好的三维图导入COSMOSMotion ，COSMOSMotion是完全内嵌于 SolidWorks 的运动仿真软件包，可对模型的真实运动情况进行精确仿真。对机构三维图进行仿真，得出结论，并与之前的自由度计算分析作比较，得到一致结论，以显示此机构的性质。

毕业论文关键词  二自由度  并联机器人  平动  运动学  工作空间

毕业设计说明书（论文）外文摘要

Title  High speed motion analysis and simulation two degree of freedom parallel manipulator

Abstract Parallel mechanism is a kind of new organization, it has a large stiffness, strong carrying capacity, small error, high precision, small dead weight load ratio, good dynamic performance, easy control and a series of advantages. As a parallel mechanism and the two degree of freedom parallel manipulator is an important part of, also have these features, and its degree of freedom less, simple structure, easy control and low cost advantages, in electronics, packaging, medical and other fields of light industry has a broad application prospect.

   This is done by a parallelogram structure linkage of the two degree of freedom parallel manipulator as the research object, analyzed the degree of freedom of this mechanism and complex organization transformation, analyzed its kinematical structure design, working space, and, finally, the 3 d assembly drawing are simulated.

   First of all, on the high-speed two degree of freedom parallel manipulator mechanism are analyzed, and then remove the virtual constraint conditions, USES the degrees of freedom of planar mechanism calculation formula obtained the degrees of freedom, and comparing with simulation results after come to the conclusion that the agency for two dof translational parallel mechanism.

   Secondly, in the transformation and simplification of the original institutions, made by the principle of five-bar parallel mechanism its kinematics model, and on institutional position kinematics positive and reverse solution, velocity and acceleration solution. In this case, the agency set parameters and to evaluate the work space, theory of agency work space diagram.

   Finally, based on the above theory and data parameters, using SolidWorks software to make 3 d drawing, and assembly, will be assembled three-dimensional figure import COSMOSMotion, COSMOSMotion is fully embedded in SolidWorks motion simulation software package that can be real movements accurately simulation for the model. 3 d graph simulation of mechanism, conclude that before and with the comparison of calculating and analyzing the degree of freedom, a unanimous conclusion, institutions of this nature to display.