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1、附录（一）英文文献Structureandkinematicanalysisofanovel2-DOFtranslationalparallelrobotChenTao1．WuChao2andLiuxiujun2**(1.SchoolofApplicationScienceandTechnology．HarbinUniversityofScienceAndTechnology，Harbinl50080,China；2.DepartmentofPrecisionInstruments．TsinghuaUniversity,Beijing100084,China)Ac
2、ceptedonFebruary13,2007AbstractThispaperaddressestheanalysisofanovelparallelrobotwith2translationaldegreesoffreedom(DOFs).Therobotcanpositionarigidbodyinaplanewithconstantorientation.Thekinematicstructureoftherobotisfirstdescribedindetail,Somekinematicproblems,suchastheinverseandforwa
3、rdkinematics,velocity,andsingularityarethenanalyzed.Theworkingandassemblymodesarediscussed.Sinceitisthemostimportantindextodesignarobot,theworkspaceoftherobotisstudiedsystematicallyinthispaper.Basedontheanalysisofreachableworkspaceandsingularity,akindofworkspaceconceptcharacterizingth
4、eregionthattheend-effectoroftherobotcanreachinpracticeisdefined.Theresultsofthispaperwillbeveryusefulforthedesignandapplicationoftherobot.Keywords：parallelrobot,degreeoffreedom,kinematicsworkspace.TheconceptualdesignofparallelrobotscanbedatedbacktothetimewhenGoughestablishedthebasicpr
5、inciplesofadevicewithaclosed-loopkinematicstructurethatcangeneratespecifiedpositionandorientationofamovingplatformsoastotesttirewearand.tear.Basedonthisprinciple,Stewartdesignedaplatformusedasanaircraftsimulatorin1965.In1978,Huntmadeasystematicstudyofrobotswithparallelkinematics,inwhi
6、chthespatial3-RPS(R-revolutejoint，P-prismaticjoint,andS-sphericaljoint)parallelrobotisatypicalone.Sincethen,parallelrobotshavebeenstudiedextensivelybynumerousresearchers.Theparallelrobotswith6DOFspossessthead-vantagesofhighstiffness,lowinertia,andlargepayloadcapacity.However,theysuffe
7、rtheproblemsofrelativelysmallusefulworkspaceanddesigndifficulties.Theirdirectkinematicspossessaverydifficultproblem.Thesameproblemofparallelrobotswith2and3DOFscanbedescribedinaclosedform.Asiswellknown,therearethreekindsofsingularitiesinparallelrobots.Generally,notallsingularitiesofa6-
8、DOFpa
