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外文翻译新型二自由度平动并联机器人结构和运动学分析
附录(一) 英文文献
Structure and kinematic analysis of
a novel 2-DOF translational parallel robot
Chen Tao1.Wu Chao2 and Liu xiujun2**
( 1. School of Application Science and Technology.Harbin University of Science
And Technology,Harbin l50080,China;2. Department of Precision Instruments.Tsinghua University, Beijing 100084, China)
Accepted on February 13, 2007
Abstract This paper addresses the analysis of a novel parallel robot with 2 translational degrees of freedom (DOFs). The robot can position a rigid body in a plane with constant orientation. The kinematic structure of the robot is first described in detail, Some kinematic problems, such as the inverse and forward kinematics, velocity, and singularity are then analyzed. The working and assembly modes are discussed. Since it is the most important index to design a robot , the workspace of the robot is studied systematically in this paper. Based on the analysis of reachable workspace and singularity, a kind of workspace concept characterizing the region that the end-effector of the robot can reach in practice is defined. The results of this paper will be very useful for the design and application of the robot.
Keywords: parallel robot, degree of freedom, kinematics workspace.
The conceptual design of parallel robots can be dated back to the time when Gough established the basic principles of a device with a closed-loop kinematic structure that can generate specified position and orientation of a moving platform so as to test tire wear and. tear. Based on this principle, Stewart designed a platform used as an aircraft simulator in 1965. In 1978, Hunt made a systematic study of robots with parallel kinematics, in which the spatial 3-RPS (R-revolute joint,P-prismatic joint, and S- spherical joint) parallel robot is a typical one. Since then, parallel robots have been studied extensively by numerous researchers.
The parallel robots with 6 DOFs possess the ad-vantages of high stiffness, low inertia, and large payload capaci
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