【摘要】 提出了六自由度并联机器人的支链选取的系统方法.并联机器人中有多种类型的支链可以用来实现末端执行器的6自由度运动,每个支链的驱动关节应当在基座上或靠近基座的地方,由支链所构成的整个并联机构的自由度应当为6.利用这些条件对并联机器人的支链形式进行筛选可以获得可行的支链形式.通过这种方法可以去除很多不可行的支链形式,得到可行的支链形式供后续设计使用.更多还原

【Abstract】 A systematic methodology for the selection of limbs of a 6 degrees-of-freedom(DOF) of parallel manipulator is presented.There are many types of limbs of parallel manipulator that can be used to fulfill 6DOF movement of the end-effector.For parallel manipulators,the driving joint in each limb should be on or near the fixed base,and the DOF of the para-llel mechanism formed by its limbs should be 6.Those conditions can be used to sift all the types of the limbs for the suitable ones.In this way,we can eliminate a lot of infeasible limbs and result in a set of candidate mechanisms.更多还原