提出在并联机构中应用一种1移动3转动半开式滑槽球副结构，该运动副将1个移动副和1个球副集成为一个复合的运动副，可以缩短并联机构中支链的尺寸链，有助于提高并联机构精度。基于半开式滑槽球副设计了一种3自由度(3-DOF)PSP三轴并联平台，通过对此机构进行的运动分析和支链的精度分析，导出各个支链的逆解方程，同时根据影响支链运动精度的各个因素给出支链系统误差的线性补偿方程，证明此并联机构具有易于控制、运动精度高的优势。%This paper presents a novel semi-open Groove-type spherical joint with three rotational DOFs and one translational DOF and applies it to the spatial parallel manipulator. The new motion joint integrates one translational DOF and three rotational DOFs, which could shorten the branched kinematic chains of parallel manipulators. That would contribute to the motion precision of parallel manipulators. In view of the above,a new 3-DOF 3-PSP spatial parallel manipulator is designed based on the novel semi-open Groove-type spherical joints. Meanwhile,the inverse kinematics algorithms are deduced through motion analysis and precision analysis of the parallel manipulator. Moreover, the linear compensation equation to the error of the branched chain, which is essential to simplify the control system of the spatial parallel manipulator, is given finally and guarantee the characteristics of easy control,high precision for the 3-DOF 3-PSP spatial parallel manipulator.
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