五自由度并联机器人的型综合

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241756

Qinchuan Li, Zhen Huang

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引用次数: 17

摘要

五自由度并联机器人的数量很少，长期以来人们认为不存在具有全周期运动能力的对称五自由度并联机器人。本文采用约束综合方法系统地进行了五自由度并联机构的型式综合。列举了具有全周期运动能力的新型五自由度对称和非对称并联机器人。此外，还揭示了五自由度并联机器人的结构特点。

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Type synthesis of 5-DOF parallel manipulators

The number of 5-DOF parallel manipulators is fairly small and it has been believed for a long time that there are no symmetrical 5-DOF parallel manipulators with full-cycle mobility. In this paper, the type synthesis of 5-DOF parallel manipulators is performed systematically by the constraint-synthesis method. Novel 5-DOF symmetrical and asymmetrical parallel manipulators with full-cycle mobility are enumerated. Moreover, structural characteristics of the 5-DOF parallel manipulators are revealed.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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