摘要
并联机器人采用了一种“知识密集”型并联机构,国际上公认并联机构的设计是较困难的热点问题.本文论述了国内外有关并联机器人研究的现状,讨论了并联机器人设计理论和创新方法以及在六维力传感器、六维鼠标、六自由度并联微操作机器人、五轴并联机床等方面的应用.本文对并联机器人研究有重要的理论与实际意义.
Parallel robots use knowledge-intensive parallel mechanisms. It is well known that the design of parallel mechanisms is a difficult and highly regarded key problem. In this paper, the recent research in the field of parallel robots is presented. The design theory innovative method and their application in 6-axis force/torque sensor, 6-axis mouse, 6-DOF parallel micro-manipulator, 5-DOF parallel kinematics machine tool, etc. This paper has much significance on study of parallel robot from a theoretical view point as well as for practical applications.
出处
《河北工业大学学报》
CAS
2004年第2期83-89,共7页
Journal of Hebei University of Technology
关键词
并联机器人
并联机构
并联机床
并联微操作机器人
parallel robot
parallel mechanism
parallel kinematics machine tool
parallel micro-manipulator
