提出了一种可实现一维移动和二维转动(1T2R)且含有冗余支链的三自由度并联机构, 基于该机构设计了一种新型的海浪发电装置。对装置的浮子进行了运动学分析, 定量分析了浮子形状和尺寸对波浪能量采集效率的影响。推导了机构的位置反解, 建立了机构的速度、加速度映射关系, 并进行了运动学仿真。分析机构的工作空间, 针对海浪发电装置的实际应用情况定义了运动学性能评价指标, 绘制了工作空间内的性能指标分布图。研究结果表明: 圆柱体浮子适用于波浪周期变化较小的海域, 球形浮子适用于波浪周期变化较大的海域, 机构的工作空间满足海浪发电装置浮子的运动要求, 且在工作空间内运动学性能良好。该研究为本机构的动力学分析、结构尺度优化及样机研制提供了理论基础。

A type of three-degree-of-freedom parallel mechanism with a redundant link that can realize one-dimensional translation and two-dimensional rotation is proposed. A novel wave power generating device is then designed based on this mechanism. The kinematics of a floater in this device are analyzed, and the effects of the shape and size of the floater on wave energy acquisition efficiency are analyzed quantitatively. The inverse displacement formulas of this mechanism are then derived, its velocity and acceleration mapping relations are established, and a kinematics simulation is performed. In addition, the workspace of this mechanism is analyzed, a kinematic performance evaluation index is defined that combines the actual applications of the wave power generating device, and performance index distribution maps in the working space are drawn. The results show that the cylindrical and spherical floats are suitable for sea areas with small and large variation ranges of the wave period, respectively. The working space of the mechanism meets the motion requirements of the float of the wave energy conversion device, and the kinematics character is good. This study provides theoretical foundations for kinematic analysis, structural scale optimization, and prototype development of the mechanism.