并联机器人的自由度:一种群论方法

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570248

J. Angeles

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引用次数: 35

摘要

当前对小于六自由度并联机器人的新型结构设计的兴趣要求对多环运动链的自由度确定进行重新研究。这篇论文试图借助herv于1978年首次提出的群体理论来阐明这个问题。这些概念，用各种各样的例子来说明，应该有助于机器人设计师创造出新的架构，否则很难设计出来。

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The Degree of Freedom of Parallel Robots: A Group-Theoretic Approach

Current interest in the design of novel architectures for parallel robots with less than six degrees of freedom (dof) has called for a revisiting of the dof determination of a multiloop kinematic chain. The paper attempts to shed some light on the issue by resorting to the theory of groups, as first proposed by Hervé in 1978. The concepts, illustrated with various examples, should help robot designers produce novel architectures that would be difficult to devise otherwise.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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