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少自由度并联机器人的研究和应用近年来吸引了各国研究者的广泛注意。本文简要介绍了我们提出的基于螺旋理论的少自由度并联机构的约束综合法,并列举了以约束综合法得到的新型4和5自由度对称并联机构。
In recent years, the research and application of less degree of freedom parallel robots have attracted the attention of researchers all over the world. In this paper, we briefly introduce the constraint synthesis method based on the spiral theory of a few degrees of freedom parallel mechanism and give a new symmetrical parallel mechanism of 4 and 5 degrees of freedom obtained by the constraint synthesis method.