少自由度并联机构研究进展

各种新型少自由度并联机构的理论和实验研究是近年来国内外机器人领域中十分重要的研究方向和前沿技术。与6自由度并联机构相比,其本质差异在于少自由度并联机构存在结构约束,使并联机构的分支中出现了约束力/矩。当机构运动受到约束,其末端运动呈现耦合。由于结构约束形式各异,使得少自由度并联机构在运动中表现出不同的运动特性。本文综合评述了少自由度并联机构机型、运动学、机构奇异、动力学、刚度研究进展,旨在为各种新型少自由度并联机构研究和相应理论体系的发展提供具有重要价值的信息。

Development evaluation of limited-DOF parallel manipulators

Recently,it becomes a very important research direction and a front technology to study the theory and the application of the various novel limited-DOF parallel manipulator（PM）.The essential differences between limited-DOF PMs and 6-DOF PMs lie in the structure constraints appear in this class PMs and thus the constrained forces/torques appear in the sub chains of this class PMs.The terminal of limited DOF PMs is restrained and the kinematics of the terminal is coupling.Due to the different structure constraints,the limited DOF PMs possess various kinematical characteristic.In fact,many properties of this class PMs are related to constraints.In this paper,the development of the type synthesis,the kinematics analysis,the singularity analysis,the dynamics analysis and the stiffness analysis of the limited-DOF PMs have been evaluated comprehensively in order to provide important and valuable information for studying the theory and the application of the various novel limited-DOF PMs.