并联机器人综述(英文经典),Parallel kinematics

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1、PPaarraalllleellKKiinneemmaattiiccssThisdocumentsurveysparallel-kinematicsliteratureandidentifiesitsusefulness.ThedocumenthasbeendevelopedwhileweweredevelopingourSimParallelmachine.Onoftheaimsofthisdocumentistoproposeaneffectivesolutiontothelimitationsoft

2、hetworotaryaxesoffive-axismachinesthatarecurrentlyusedinindustry.However,thesurveyoftheparallel-kinematicsliteraturewillnotbelimitedtothis(twoDOFs)familyofparallelkinematicsmechanismslestaseedforanideaforoursoughtmechanismdoesexistinparallel-kinematicsmec

3、hanismswithotherDOFs.Theavailableparallelmechanismsconceptswillbementionedandthentheirkinematicsusefulnesstoourpurposewillbemorecriticallystatedintheconclusionsection.Thedocumentconsistsofthefollowing11sub-sections;•Parallel-KinematicsMechanisms.•SixDOFsP

4、arallel-KinematicsMechanisms.•SpatialTranslationalThree-DOFsParallel-KinematicsMechanisms.•SpatialRotationalThree-DOFsParallel-KinematicsMechanisms.•OtherThree-DOFsParallel-KinematicsMechanisms.•AsymmetricParallel-KinematicsMechanisms.•TwoDOFsParallel-Kin

5、ematicsMechanisms.•FourandFive-DOFsParallel-KinematicsMechanisms.•Parallel-KinematicsMechanismsRedundancy.•Parallel-KinematicsMechanismsinIndustrialMachine-Tools.•SummaryandConclusions1.Parallel-KinematicsMechanismsTheconceptualdesignofPKMscanbedatedbackt

6、othemiddleofthelastcenturywhenGoughestablishedthebasicprinciplesofamechanismwithaclosed-loopkinematicsstructureandthenbuiltaplatformfortestingtyrewearandtear[Gough,1956].AsketchofthemechanismisshowninFigure1.Asshowninthefigure,thatmechanismallowschangingt

7、hepositionandtheorientationofamovingplatformwithrespecttothefixedplatform._______________________________________________________________________________________ParallelKinematics12Figure1GoughPlatformLaterin1965Stewartdesignedanotherparallel-kinematicspl

8、atformforuseasanaircraftsimulator[Stewart,1965].AsketchofthatStewartmechanismisshowninFigure2.ForsomereasonthemechanismsofFigure1andthatofFigure2aswellasmanyvariations(e.g.theoneshowninFigure3)arefrequentlycalledint