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1、附录（一）英文文献Structureandkinematicanalysisofanovel2-DOFtranslationalparallelrobotChenTao1．WuChao2andLiuxiujun2**(1.SchoolofApplicationScienceandTechnology．HarbinUniversityofScienceAndTechnology，Harbinl50080,China；2.DepartmentofPrecisionInstruments．TsinghuaUniversity,Beijing100084,Chi
2、na)AcceptedonFebruary13,2007AbstractThispaperaddressestheanalysisofanovelparallelrobotwith2translationaldegreesoffreedom(DOFs).Therobotcanpositionarigidbodyinaplanewithconstantorientation.Thekinematicstructureoftherobotisfirstdescribedindetail,Somekinematicproblems,suchastheinver
3、seandforwardkinematics,velocity,andsingularityarethenanalyzed.Theworkingandassemblymodesarediscussed.Sinceitisthemostimportantindextodesignarobot,theworkspaceoftherobotisstudiedsystematicallyinthispaper.Basedontheanalysisofreachableworkspaceandsingularity,akindofworkspaceconceptc
4、haracterizingtheregionthattheend-effectoroftherobotcanreachinpracticeisdefined.Theresultsofthispaperwillbeveryusefulforthedesignandapplicationoftherobot.Keywords：parallelrobot,degreeoffreedom,kinematicsworkspace.TheconceptualdesignofparallelrobotscanbedatedbacktothetimewhenGoughe
5、stablishedthebasicprinciplesofadevicewithaclosed-loopkinematicstructurethatcangeneratespecifiedpositionandorientationofamovingplatformsoastotesttirewearand.tear.Basedonthisprinciple,Stewartdesignedaplatformusedasanaircraftsimulatorin1965.In1978,Huntmadeasystematicstudyofrobotswit
6、hparallelkinematics,inwhichthespatial3-RPS(R-revolutejoint，P-prismaticjoint,andS-sphericaljoint)parallelrobotisatypicalone.Sincethen,parallelrobotshavebeenstudiedextensivelybynumerousresearchers.Theparallelrobotswith6DOFspossessthead-vantagesofhighstiffness,lowinertia,andlargepay
7、loadcapacity.However,theysuffertheproblemsofrelativelysmallusefulworkspaceanddesigndifficulties.Theirdirectkinematicspossessaverydifficultproblem.Thesameproblemofparallelrobotswith2and3DOFscanbedescribedinaclosedform.Asiswellknown,therearethreekindsofsingularitiesinparallelrobots
8、.Generally,notallsingularitiesofa6-DOFpa
