几类空间并联机器人的奇异研究
|
摘要
并联机器人有着串联机器人所不具有的优点,在应用上与串联机器人呈互补的态势。应用的需要促进并联机器人理论研究的深入。奇异位形的研究是并联机器人理论研究中的一个重要组成部分。本文对并联机器人奇异位形产生的根源、存在的规律性、线性丛性质等进行了全面系统的研究。
在分析有关文献并研究并联机器人的奇异特征的基础上,本文首先综合性地给出机器人奇异的概念,分别阐述了串联机器人和并联机器人奇异的不同,然后对奇异提出新的分类方法,分别从奇异对机构的运动状态的影响、奇异形成的原因、线性丛性质、奇异位形的研究方法等几方面进行了系统的分类,这对深入认识奇异以及对并联机器人的奇异研究有理论价值。
空间少自由度并联机器人机构是所有并联结构中运动规律最复杂的。在少自由度家族中,3-RPS 并联机器人机构是应用研究最广泛的一种。本文首次得到了它的最一般奇异判别式、姿态奇异分布和三维空间位置奇异分布。分析了奇异分布的几何特点,而且发现了本机器人机构可能出现的所有共十种奇异位形,系统地讨论了它们的线性丛性质和奇异运动规律,给出了奇异的线几何理论依据。另外还进行了本机器人六个输出参数的解耦性研究,给出了输出参数之间的简洁的解耦关系式。 四和五自由度并联机器人机构,特别是对称四自由度和五自由度并联机器人机构也是少自由度并联机器人家族中不可缺少的机构。这里首次建立了两种新型对称
四自由度和一种新型对称五自由度并联机器人机构的奇异方程。提出了奇异的几何条件,给出了奇异的数值算例,而且研究了奇异的自由度变化规律和奇异的运动性质,剖析了分支奇异对并联机器人的影响。首次给出了以上三种并联机器人机构的约束条件、位置正解方程、位置逆解方程以及正解和逆解的数值算例,并进行了自由度和运动性质的分析,确定了其合理的输入方案以及最优输入方案。为其工作空间研究奠定基础。这对它们的进一步的奇异研究和推广应用很有意义。 六自由度并联机器人机构是应用最普遍的,其中 6/6-Stewart 和 3/6-Stewart 并联
机器人机构是最典型的并联机器人机构。对于 3/6-Stewart 并联机器人机构,这里首次得到其奇异点在β 斜平面上的双曲线分布规律,而且得到 3/6-Stewart 并联机器人机构在三维空间中的奇异判别式和双曲抛物面分布规律。作为算例,还给出了某些
Compared with a series manipulator, a parallel manipulator is with some advantages. Parallel manipulators can fill the area which series manipulators are not applicable. The needs of the application accelerate the theoretical research of parallel manipulators. The study of the singularity is important in the theoretical research of parallel manipulators. With the complete analysis of the developments of the application and the research of parallel manipulators, especially the progresses of the singularity research of parallel manipulators international and at home, a thorough and systemic study about the root and principle of singularity and the behavior of the mechanical and movement of the parallel manipulator in singularity is gone along in this paper.
Depending on the investigation of the singular characteristics of parallel manipu- lators and analyzing some references about the singularity, this paper expatiates the dis- tinctness of singularity in parallel and series manipulator based on the definition of singu- larity of manipulator. The force Jacobian matrix of lower-mobility parallel manipulator is established. Furthermore, several new methods to class the singularity, such as the method based on the causes of singularity, motion stations at singularity, linear-complex charac- teristics, and method to research singularity, are presented. This is significant to the singu- larity research.
The analysis of the kinematics characteristics for spatial lower-DOF parallel manipu- lators is the most complicated in the theoretical study of parallel manipulators. In the fa- mily of the lower-DOF parallel manipulators, the 3-RPS parallel manipulator is a focus in the applications and researches. In this paper, the symplectics of the six output variables is studied firstly, then the singularity regularity of the 3-RPS parallel manipulator is presen- ted firstly and then the general singularity discriminant is obtained. The distributing chart of position singularity and the distributing chart of pose singularity are gained. The cha- racteristics of all the ten positions and orientations in the singularity are analyzed tho- roughly and the attestations to the singularity based on the line geometry are presented. 4-dof and 5-dof parallel manipulator, particularly symmetrical 4-dof and 5-dof para-
llel manipulator is indispensabe in the family of lower-DOF parallel manipulators. The restricting conditions, the solutions of the forward and inverse position kinematics of two 4-dof and one 5-dof parallel manipulator are established firstly. Three expressions to dis- tinguish singularity of the three parallel manipulators are built. This is groundwork to the popular applications and the singularity study of the three parallel manipulators. 6-dof parallel manipulator is applied universally. The 6/6 and 3/6-Stewart are ty- pical among the 6-dof parallel manipulators. About 3/6-Stewart parallel manipulator, the singularity regularity in the β inclined plane is found by the geometrical condition of singularity firstly. The singularity locus is a hyperbola in the β inclined plane. Its asym- ptote and real axis and image axis are ascertained. Then with the kinematics method and the singularity transform method, the discriminants of singularity in the three dimensional space is received. By way of the corresponding numerical examples, the singularity dis- tributing in the three-dimensional space and the singularity analyzing of the 3/6-Stewart parallel manipulator at some poses are worked out. Moreover, the relation of inverse to each other of velocity Jacobian and the force Jacobian matrix of 6-dof Stewart parallel manipulator is proved. Finally, the correctness of the singularity principle and analysis is validated with tests.
在分析有关文献并研究并联机器人的奇异特征的基础上,本文首先综合性地给出机器人奇异的概念,分别阐述了串联机器人和并联机器人奇异的不同,然后对奇异提出新的分类方法,分别从奇异对机构的运动状态的影响、奇异形成的原因、线性丛性质、奇异位形的研究方法等几方面进行了系统的分类,这对深入认识奇异以及对并联机器人的奇异研究有理论价值。
空间少自由度并联机器人机构是所有并联结构中运动规律最复杂的。在少自由度家族中,3-RPS 并联机器人机构是应用研究最广泛的一种。本文首次得到了它的最一般奇异判别式、姿态奇异分布和三维空间位置奇异分布。分析了奇异分布的几何特点,而且发现了本机器人机构可能出现的所有共十种奇异位形,系统地讨论了它们的线性丛性质和奇异运动规律,给出了奇异的线几何理论依据。另外还进行了本机器人六个输出参数的解耦性研究,给出了输出参数之间的简洁的解耦关系式。 四和五自由度并联机器人机构,特别是对称四自由度和五自由度并联机器人机构也是少自由度并联机器人家族中不可缺少的机构。这里首次建立了两种新型对称
四自由度和一种新型对称五自由度并联机器人机构的奇异方程。提出了奇异的几何条件,给出了奇异的数值算例,而且研究了奇异的自由度变化规律和奇异的运动性质,剖析了分支奇异对并联机器人的影响。首次给出了以上三种并联机器人机构的约束条件、位置正解方程、位置逆解方程以及正解和逆解的数值算例,并进行了自由度和运动性质的分析,确定了其合理的输入方案以及最优输入方案。为其工作空间研究奠定基础。这对它们的进一步的奇异研究和推广应用很有意义。 六自由度并联机器人机构是应用最普遍的,其中 6/6-Stewart 和 3/6-Stewart 并联
机器人机构是最典型的并联机器人机构。对于 3/6-Stewart 并联机器人机构,这里首次得到其奇异点在β 斜平面上的双曲线分布规律,而且得到 3/6-Stewart 并联机器人机构在三维空间中的奇异判别式和双曲抛物面分布规律。作为算例,还给出了某些
Compared with a series manipulator, a parallel manipulator is with some advantages. Parallel manipulators can fill the area which series manipulators are not applicable. The needs of the application accelerate the theoretical research of parallel manipulators. The study of the singularity is important in the theoretical research of parallel manipulators. With the complete analysis of the developments of the application and the research of parallel manipulators, especially the progresses of the singularity research of parallel manipulators international and at home, a thorough and systemic study about the root and principle of singularity and the behavior of the mechanical and movement of the parallel manipulator in singularity is gone along in this paper.
Depending on the investigation of the singular characteristics of parallel manipu- lators and analyzing some references about the singularity, this paper expatiates the dis- tinctness of singularity in parallel and series manipulator based on the definition of singu- larity of manipulator. The force Jacobian matrix of lower-mobility parallel manipulator is established. Furthermore, several new methods to class the singularity, such as the method based on the causes of singularity, motion stations at singularity, linear-complex charac- teristics, and method to research singularity, are presented. This is significant to the singu- larity research.
The analysis of the kinematics characteristics for spatial lower-DOF parallel manipu- lators is the most complicated in the theoretical study of parallel manipulators. In the fa- mily of the lower-DOF parallel manipulators, the 3-RPS parallel manipulator is a focus in the applications and researches. In this paper, the symplectics of the six output variables is studied firstly, then the singularity regularity of the 3-RPS parallel manipulator is presen- ted firstly and then the general singularity discriminant is obtained. The distributing chart of position singularity and the distributing chart of pose singularity are gained. The cha- racteristics of all the ten positions and orientations in the singularity are analyzed tho- roughly and the attestations to the singularity based on the line geometry are presented. 4-dof and 5-dof parallel manipulator, particularly symmetrical 4-dof and 5-dof para-
llel manipulator is indispensabe in the family of lower-DOF parallel manipulators. The restricting conditions, the solutions of the forward and inverse position kinematics of two 4-dof and one 5-dof parallel manipulator are established firstly. Three expressions to dis- tinguish singularity of the three parallel manipulators are built. This is groundwork to the popular applications and the singularity study of the three parallel manipulators. 6-dof parallel manipulator is applied universally. The 6/6 and 3/6-Stewart are ty- pical among the 6-dof parallel manipulators. About 3/6-Stewart parallel manipulator, the singularity regularity in the β inclined plane is found by the geometrical condition of singularity firstly. The singularity locus is a hyperbola in the β inclined plane. Its asym- ptote and real axis and image axis are ascertained. Then with the kinematics method and the singularity transform method, the discriminants of singularity in the three dimensional space is received. By way of the corresponding numerical examples, the singularity dis- tributing in the three-dimensional space and the singularity analyzing of the 3/6-Stewart parallel manipulator at some poses are worked out. Moreover, the relation of inverse to each other of velocity Jacobian and the force Jacobian matrix of 6-dof Stewart parallel manipulator is proved. Finally, the correctness of the singularity principle and analysis is validated with tests.
引文
1 M. Murray Richard, Z. Li, S. Shankar Sastry. A Mathematical Introduction to Robotic Manipulation. Florido, CNC Press,1994:2-9
2 蔡自兴.机器人学.北京:清华大学出版社,2000:1-12
3 蒋新松.机器人学导论.沈阳:辽宁科学技术出版社,1994:1-6
4 黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社,1997:29-30,148-165, 226-267
5 A. Cauchy. Deuxieme Memoire Sur les Polygons et les Polyedres. Journal de I’Ecole Polytechnique,1813,(5):87-88
6 J. E. Gwinnett. Amusement Devices. US Patent No. 1789680, January 201931
7 W. L. G. Pollard. Spray Painting Machine. US Patent No. 2213108, August 261940
8 B. Dasgupta, T. S. Mruthyunjaya. The Stewart Platform Manipulator: A Review. Mech. And Mach. Theory,2000(35):15-40
9 K. H. Hunt. Kinematic Geoemtry of Mechanisms. Oxford, Claredon Press,1978:304-320
10 E. F. Fichter. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int. J. of Rob. Res.,1986,5(2):157-182
11 J. C. Hudgens, D. Tesar. Fully-parallel Six Degree of Freedom Micro-manipulator: Kinematic Analysis and Dynamic Model. The 20th Biennial ASME Mechanisms Conference on Trends and Development in Mechanisms Machines and Robotics, Kissimmee, FL, USA,1988,15(3):29-37
12 K. M. Lee, S. Arjunan. Three degree of freedom Micro-Motion In-Parallel Actuated Manipulator. IEEE Conference on Robotics and Automation, Scottsdale, AZ, USA,1989:1698-1703
13 D. R. Kerr. Analysis Properties and Design of a Stewart-Platform Transducer. Journal of Mechanisms, Transmissions and Automation in Design,1989,(111):25-28
14 J. P. Merlet. Singular Configurations and Direct Kinematics of a New Parallel Manipulator in Proc. of the IEEE Conf. on Rob. Aut., Nice, France,1992:338-343
15 C. C. Nguyen, et al. Analysis and Experimentation of a Stewart Platform-Based Force/Torque Sensor. International Journal of Robotics and Automation,1993,7(3):133-140
16 J. P. Merlet. Parallel Manipulators: State of the Art and Perspectives. Journal of Advanced Ro- botics,1994,8(6):589-596
17 R. Aronson. Hexpods: Hot or Ho Hum. Manufacturing Engineering,1997,(10):60-67
18 汪劲松,黄田.并联机床-机床行业面临的机遇与挑战.中国机械工程,1999,10(42):1103-1107
19 J. Hollingum. Features: Hexapods to Take Over. Journal of Industrial Robot,1997,24(6):428-431
20 J. M. Fitzgerald. Evaluating the Stewart Platform for Manufacturing. Robotics Today,1993,6(1): 1-3
21 G. Pritschow, K. H. Wurst. Systematic Design of Hexapods and Other Parallel Link Systems. Annals of CIRP-Manufacturing Technology,1997,46(1):291-295
22 汪劲松.VAMITIY 虚拟轴机床.制造技术与机床.1998,(2):42-43
23 高峰,金振林,刘辛军.六自由度虚拟轴机床.中国发明专利,公开号:CN1261018A
24 赵永生.3 维移动 2 维转动 5 轴联动并联机床机构.专利号:02104943.2
25 杨宜民.仿生型步进式直线驱动器的研究.机器人,1994:140-143
26 安辉.压电陶瓷驱动六自由度并联微动机器人的研究.[哈尔滨工业大学博士学位论文].1995:63-76
27 毕树生,王守杰,宗光华.串并联微动机构的运动学分析.机器人,1997,19(4):259-264
28 陈滨.机器人手腕测力装置.机械工程学报.1988,24(2):83-87
29 熊有伦,丁汉,刘恩沧.机器人学.北京:机械工业出版社,1993:55-69
30 熊有伦.机器人力传感器的各向同性.自动化学报.1996,22(1):10-17
31 金振林,高峰,刘辛军.新型力解耦和各向同性结构的机器人六维力传感器.传感器技术,2000,19(4):26-28
32 金振林,高峰,陈贵林.新型 3-2-1 正交结构机器人六分量腕力传感器设计.机械设计,2001,18(5):12-14
33 H. Wang. F. Gao. Design of 6-Axis Force/Torque Sensor Based on Stewart Platform Related to Isotropy. Chinese Journal of Mechanical Engineering,1998,11(3):217-222
34 K. H. Hunt. Structural Kinematics of In-Parallel-Actuated Robot-Arms. J. of Mech. Trans. and Aut. in Des.,1983,(105):705-712
35 R. D. Clavel. A Fast Robot with Parallel Geometry. Proc. of the Int. Symp. on Industrial Rob., Switzerland,1988:91-100
36 L. W. Tsai, C. G. Walsh, R. Stamper. Kinematics of a novel three DOF translation platform. IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA,1996, (4):3446-3451
37 Z. Huang, Y. F. Fang. Kinematic Characteristics Analysis of 3-DOF in-Parallel Actuated Pyramid Mechanisms. Mechanism and Machine Theory,1996,31(8):1009-1018
38 J. M. Hervé. The Lie Group of Rigid Body Displacements, a Fundamental Tool for Mechanism Design. Mechanism and Machine Theory,1999,34(5):719-730
39 赵铁石,黄真.欠秩空间并联机器人输入选取的理论和应用.机械工程学报,2000,36(10):81-85
40 赵铁石.空间少自由度并联机器人机构分析与综合的理论研究.[燕山大学工学博士论文].2000:26-32
41 D. Zlatanov, C. M. Gosselin. A New Parallel Architecture with Four Degrees of Freedom. The 2nd Workshop on Computational Kinematics, Seoul,2001:57-66
42 金琼,杨廷力,刘安心,等.基于单开链单元的三平移一转动并联机器人机构型综合.解放军理工大学学报,2001,2(3):15-19
43 Q. Jin, T. L. Yang, A. X. Liu, et al. Structure Synthesis of a Class of Five-DOF Parallel Robot Mechanisms Based on Single-Opened-Chain Units. ASME Design Engineering Technical Conferences, Pisttsburgh, United States,2001,(2):1303-1308
44 J. P. Merlet. Optimal Design for the Micro Parallel Robot MIPS. IEEE International Conference on Robotics and Automation, Washington,2002:1149-1154
45 W. J. Chen, M. Y. Zhao, J. P. Zhou, et al. A 2T-2R 4-DOF Parallel Manipulator. ASME Design Engineering Technical Conferences, Montreal,2002,(5B):881-885
46 F. Gao, W. M. Li, X. C. Zhao, et al. New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs. Mechanism and Machine Theory,2002,37(11):1395-1411
47 杨廷力.机器人机构拓扑结构学.北京:机械工业出版社,2004:55-82
48 杨廷力,金琼,刘安心,等.基于单开链单元的三平移并联机器人机构型综合及分类.江苏石油化工学院学报,2000,12(4):35-38
49 Q. Jin, T. L. Yang. Structure Synthesis of Parallel Manipulators with 3-dimension Translation and 1-Dimension Rotation. ASME Design Engineering Technical Conferences,Montreal,2002, (5B):907-913
50 Q. Jin, T. L. Yang. Synthesis and Analysis of a Group of 3-Degree-of-Freedom Decoupling Parallel Manipulators. ASME Design Engineering Technical Conferences, Montreal,2002,(5A): 361-368
51 金琼,杨廷力,刘安心,等.基于单开链单元的三平移一转动并联机器人机构型综合及机构分类.中国机械工程,2001,12(9):1038-1043
52 杨廷力,金琼,刘安心,等.基于单开链单元的欠秩并联机器人机构型综合的一般方法.机械科学与技术,2001,20(3):321-325
53 杨廷力,金琼,刘安心,等.基于单开链单元的三平移并联机器人机构型综合及其分类.机械工程学报,2002,38(8):31-36
54 Z. Huang, Q. C. Li. Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using Constraint-Synthesis Method. International Journal of Robotics Research,2003,22(1):59-79
55 Q. C. Li, Z. Huang. A Family of Symmetrical Lower-Mobility Parallel Mechanisms with Spherical and Parallel Subchains. Journal of Robotic Systems,2003,20(6):297-305
56 Z. Huang, Q. C. Li. General Methodology for Type Synthesis of Lower-Mobility Symmetrical Parallel Manipulators and Several Novel manipulators. International Journal of Robotics Research,2002,21(2):131-145
57 李秦川,黄真.基于位移子群分析的三自由度移动并联机构型综合.机械工程学报,2003, 39(6):18-21
58 Z. Huang, Q. C. Li. Type Synthesis Principle of Minor-mobility Parallel Manipulators. Science in China (Series E),2002,45(3):241-248
59 Q. C. Li, Z. Huang. Mobility Analysis of a Novel 3-5R Parallel Mechanism Family. IEEE International Conference on Robotics & Automation, Taipei, Taiwan, P. R. China,2003(2):1887-1892
60 Q. C. Li, Z. Huang. Type Synthesis of 4-DOF Parallel Manipulators. IEEE International Conference on Robotics & Automation, Taiwan, P. R. China,2003,(1):755-760
61 Q. C. Li, Z. Huang. Mobility Analysis of Lower-Mobility Parallel Manipulators Based on Screw Theory. IEEE International Conference on Robotics & Automation,Taiwan, P. R. China, 2003,(1):1179-1184
62 Q. C. Li, Z. Huang. Type Synthesis of 5-DOF Parallel Manipulators. IEEE International Conference on Robotics & Automation, Taiwan, P. R. China,2003,(1):1203-1208
63 Z. Huang, Q. C. Li. On the Type Synthesis of Lower-Mobility Parallel Manipulators. Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Canada,2002:272-283
64 Z. Huang, Q. C. Li. Some Novel Minor-Mobility Parallel Mechanisms, Parallel Kinematics Seminar, Fraunhofer IWU, Chemnitz, Germany,2002:895-905
65 Z. Huang, Q. C. Li. Construction and Kinematic Properties of 3-UPU Parallel Mechanism. ASME Design Engineering Technical Conferences, Montreal, Canada, 2002,(5B):1027-1033
66 Z. Huang, Q. C. Li. Some Novel Lower-mobility Parallel Mechanisms. ASME Design Engineering Technical Conferences, Montreal, Canada, 2002,(5B):851-855
67 李秦川 . 对称少自由度并联机器人型综合理论及新机型综合 .[ 燕山大学博士论文].2003:57-69
68 E. F. Fichter. Kinematics of A Parallel Connection Manipulator. ASME Paper, 84-DET-45.1984: 8-8
69 D. C. H. Yang, T. W. Lee. Feasibility Study of a Platform Type of Robotic Manipulators from Kinematic Viewpoint. ASME J. Mech. Transmiss. Aut. Des.,1984,(106):191-198
70 J. P. Merlet. Direct Kinematic and Assembly Motion Parallel Manipulators. Int. J. Robotics Research,1992,11(2):150-162
71 Huang Z. Modeling Fomulation of 6-DOF Multi-loop Parallel Manipulators Part 2-Dymanic Modeling and Example. Proc. Of 4th IFToMM Conf. on Mechanisms and CAD. Romania.1985
72 曲义远,黄真.空间六自由度多回路机构位置的三维搜索方法.机器人.1989,89(5):25-29
73 C. Innocenti, V. P. Castelli. A New Kinematic Model for the Closure Equations of the Generalized Stewart Platform Mechanism. Symposium on Advance in Robot Kinematics, Linz, Austria,1990:457-457
74 C. Innocenti, V. P. Castelli. Direct Position Analysis of the Stewart Platform Mechanism. Mach. Mech. Theory,1990,25(6):611-621
75 C. Innocenti, V. P. Castelli. Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm. ASME J. Mech. Des.,1993,(115):932-937
76 C. Innocenti, V. P. Castelli. Closed-Form Direct Position Analysis of a 5-5 Parallel Mechanism. ASME J. Mech. Des.,1993,(115):515-521
77 C. Innocenti. Direct Kinematics in Analytical Form of the 6-4 Fully Parallel Mechanism. ASME J. of Mechanical Design,1995,(117):89-95
78 C. W. Wampler, A. P. Morgan. and A. J. Sommense. Numerical Continuation Methods for Solving Polynomial Systems Arising in Kinematics. ASME J. Mech. Des.,1990,(112):59-68
79 M. Raghavan. The Stewart Platform of General Geometry Has 40 Configurations. ASME J. Mech. Des.,1993,(115):277-282
80 梁崇高,荣辉.一种 Stewart 平台型机械手位移正解,机械工程学报,1991,27(2):26-30
81 W. Lin, M. Griffs, J. Duffy. Forward Displacement Analyses of the 4-4 Stewart Platforms. ASME J. Mech. Des.,1992,(114):444-450
82 J. Duffy, et. al. Closed-Form Forward Displacement Analysis of the 4-5 In-Parallel Platforms. ASME J. of Mechanical Design,1994,(116):47-53
83 B. Dasgupta, T. S. Mruthyunjaya. A Constructive Predictor-Corrector Algorithm for the Direct Position Kinematic Problem for a General 6-6 Stewart Platform. Mech. Mach. Theory,1996, 31(6):799-811
84 G. R. Dunlop, T. P. Jones. Position Analysis of 3-DOF Parallel Manipulator. Mech. Mach. Theory,1997,32(8):903-920
85 T. K. Tanev. Kinematics of a Hybrid (Parallel-Serial) Robot Manipulator. Mech. Mach. Theory,2000,35(10):1183-1196
86 X. W. Kong, C. M. Gosselin. Forward Displacement Analysis of Third-Class Analytic 3-RPR Planar Parallel Manipulators. Mech. Mach. Theory,2001,36(9):1009-1018
87 R. Kamra, D. Kohli, A. K. Dhlingra. Forward Displacement Analysis of a Six-DOF Parallel Manipulator Actuated by 3R3P and 4R2P Chains. Mech. Mach. Theory,2002,37(5):619-637
88 P. Ji, H. T. Wu. Kinematics Analysis of an Offset 3-UPU Translational Parallel Robotic Manipulator. Robotics and Systems,2003,42(2):117-123
89 J. P. Merlet. Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis. The International Journal of Robotics Research,2004,23(3):221-235
90 吴生富,王洪波,黄真.并联机器人工作空间的研究.机器人,1991,91(3):33-39
91 Z. F. Li, T. J. Tarn, A. K. Bejczy. Dynamic Workspace Analysis of Multiple Cooperating Robot Arms. IEEE Transaction on Robotics and Automation,1991,7(5):589-596
92 C. M. Gosselin. Determination of the Workspace of 6-DOF Parallel Manipulators. J. of Mech. Des.,1990,(112):331-336
93 V. Kumar. Characterization of Workspaces of Parallel Manipulators. ASME J. Mech. Des.,1992, (114):368-375
94 O. Masory, J. Wang. Workspace Evaluation of Stewart Platforms. Advanced Robotics,1995,(9): 443-461
95 姜虹,贾书海,王小椿. 6 自由度并联机器人的结构参数对活动空间的影响.机械科学与技术.1999,18(2):259-261
96 T. Huang, J. Wang, D. J. Whitehouse. Closed Form Solution to Workspace of Hexapod-Based Virtual Axis Machine Tools. Transactions of the ASME. Journal of Mechanical Design,1999, 121(3):26-31
97 L. W. Tsai, Sameer Joshi. Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator. Transactions of the ASME. Journal of Mechanical Design,2000,122(12):439-446
98 姜兵,黄田.求解 6-PSS 并联机器人操作机姿态空间的瞬时机架法.机械工程学报.2000,36(9): 5-10
99 F. Gao, X. J. Liu, X. Chen. The Relationships Between the Shapes of the Workspace and the Link Lengths of 3-DOF Symmetrical Planar Parallel Manipulators. Mech. Mach. Theory,2001, 36(2):205-220
100 I. A. Bonev, J. Ryu. A New Approach to Orientation Workspace Analysis of 6-DOF Parallel Manipulators. Mech. Mach. Theory,2001,36(1):15-28
101 M. Badescu, Constantions Mavroidis. Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms with Joint Constraints. Transactions of the ASME. Journal of Mechanical Design,2004,126(3):291-300
102 S. L. Canfield, R. R. Soper, C. F. Reinholtz. Velocity Analysis of Parallel Manipulators by Truss Transformations. Mechanism and Machine Theory,1999,34(3):345-357
103 黄真,郭希娟.虚设机构法正确性的论证.机械工程学报,2001,37(5):40-43
104 郭希娟.并联机器人机构动力学基础理论研究.[燕山大学博士论文].2002:27-46
105 黄真,王洪波.复杂多环空间机构动力分析的影响系数法.机械工程学报.1988,24(3):74-80
106 J. K. Salisbury, J. J. Craig. Articulated Hands: Force Control and Kinematic Issues. Int. J. of Robot. Res.,1982,1(1):4-17
107 T. Yoshikawa, Manipulability of Robotic Mechanisms. Int. J. of Robot. Res.,1985,4(2):3-9
108 J. Angeles, A. Rojas. Manipulator Inverse Kinematics Via Condition Numer Minimization and Condition. Int. J. Robotics and Automation,1987,2(2):61-69
109 C. M. Gosselin, J. Angeles. A Global Performance Index for the Kinematic Optimization of Robotic Manipulators. Transactions of the ASME,1991,(113):220-226
110 M. V. Kircanski. Robotic Isotropy and Optimal Robot Design of Planar Manipulators. IEEE Conf. On Robotics and Automation,1994:1100-1105
111 J. G. Wang, C. Gosselin. Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms. Mechanism and Machine Theory,1999,34(4):437-452
112 J. G. Wang, C. Gosselin. Static Balancing of Spatial Four-Degree-of-Freedom Parallel Mechanisms. Mechanism and Machine Theory,2000,35(5):563-592
113 T. Huang, et al. Design of Hexapod-Based Machine Tools with Specified Orientation Capability and Well-Conditioned Dexterity. The 10th World Congress for Theory of Machines and Mechanisms, Finland,Oulu,1999:20-24
114 刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论.[燕山大学工学博士论文].1999:16-34
115 X. J. Liu, J. S. Wang and F. Gao. Performance Atlases of the Workspace for 3-DOF Parallel Manipulators. Robotica,2000,18(5):563-568
116 高峰,刘辛军,金振林,等.并联六自由度 Stewart 微动机器人机构设计方法.清华大学学报(自然科学版).2001,41(8):16-20
117 金振林,高峰,李金良.并联 3-2-1 结构新型微操作手及其承载能力分析.中国机械工程.2002,13(2):105-108
118 金振林,赵现朝,高峰.新型并联机床的柔度指标及其在工作空间内的分布研究.中国机械工程.2002,13(3):184-186
119 金振林,高峰.一种新颖的六自由度并联机床结构型式及其局部各向同性分析.中国机械工程.2001,12(12):1359-1361
120 X. J. Guo, F. Q. Chang, S. J. Zhu. Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism. ASME 2004 International Design Engineering Technical Conferences and the Computers and Information in Engineering Conference, Salt Lake City, Utah USA,2004,(2A):251-255
121 杨廷力.空间机构的结构分析与综合-II 空间复链的结构分析.机械设计,1987,(3):1-11
122 孔宪文.空间运动链主动运动副干涉判别.机械传动,1999,(4):23-25
123 D. E. Whitney. The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators. Journal of Dynamic Systems, Measurement and Control Trans. ASME,1972,94(4):303-330
124 B. Dizioglu. Theory and Practice of Spatial Mechanisms with Special Position of the Axes. Mechanism and Machine Theory,1978,13(2):139-153
125 J. Eddie Baker. Limit Position of Spatial Linkages Via Connectivity Sum Reduction. Journal of Mechanical Design Transactions of ASME,1979,101(4):504-507
126 M. A. Uchiyama. Study of Computer Control of Motion of a Mechanical Arm, Bull, JSME, 1979,22(2):173-177
127 Sugimoto, K. Duffy, J. Hunt, K. H. Special Configurations of Spatial Mechanisms and Robot Arms. Mech. Mach. Theory,1982,17(2):119-132
128 Q. X. Zhang, Q. S. Huang. New Approach to the Study of Special Configuration of Manipulators, Proceedings of the 14th International Symposium on Industrial Robots, Goteborg, Sweden,1984:623-632
129 黄真,曲义远.空间并联多环机构的特殊位形分析.第五届全国机构学学术讨论会.庐山.1987:1-7
130 J. P. Merlet. Singular Configurations of Parallel Manipulators and Grassmann Geometry. Int. J. of Rob Res.,1989,8(5):45-56
131 D. Basu, A. Ghosal, Singularity Analysis of Platform-Type Multi-Loop Spatial Mechanisms. Mech. Mach. Theory,1997,32(3):375-389
132 曲义远.并联机器人特殊位形及位置分析.[燕山大学工学硕士论文].1988:26-41
133 C. L. Collins, J. M. MeCarthy, Singularity Loci of Two Triangular Parallel Manipulators, Pro- ceedings of the 1997 8th International Conference on Advanced Robotics, Monterey, USA, 1997:473-478
134 J. P. Merlet. On the Infinitesimal Motion of a Parallel Manipulator in Singular Configuration. IEEE Conf. on Rob. Aut., Nice, France,1992:320-325
135 D. A. Kumar, I. M. Chen, Y. S. Huat, et al. Singularity-Free Path Planning Of Parallel Manipu- lators Using Clustering Algorithm and Line Geometry, Proceedings-IEEE International Conference on Robotics and Automation,Taipei,2003,(1):761-766
136 W. Alon, O. Erika, S. Moshe, et al. Application of Line Geometry and Linear Complex Appro- ximation to Singularity Analysis of the 3-DOF CaPaMan Parallel Manipulator. Mechanism and Machine Theory,2004,39(1):75-95
137 B. Monsarrat, C. M. Gosselin. Singularity Analysis of a Three-Leg Six-Degree-of-Freedom Pa- rallel Platform Mechanism Based on Grassmann Line Geometry. International Journal of Robo- tics Research,2001,20(4):312-326
138 C. M. Gosselin, J. Angeles. Singularity Analysis of Closed-Loop Kinematic Chains. IEEE Tran- sactions on Robotics and Automation,1990,6(3):281-290
139 J. Sefrioui, C. M. Gosselin. Singularity Analysis and Representation of Planar Parallel Manipu- lators. Robotics and Autonomous System,1992,(10):209-224
140 J. Sefrioui, C. M. Gosselin. On the Quadratic Nature of the Singularity Curves of Planar Three- Degree-of-Freedom Parallel Manipulators. Mechanism and Machine Theory,1995,30(4): 533-551
141 C. M. Gosselin, J. G. Wang. Singularity Loci of Planar Parallel Manipulators with Revolute Ac- tuators. Robotics and Autonomous System,1997,(21):377-398
142 J. Wang, C. M. Gosselin. Kinematic Analysis and Singularity Representation of Spatial Five-De- gree-of-Freedom Parallel Mechanisms. J. of Robotic Systems,1997,14(12): 851-869
143 B. M. St-Onge, C. M. Gosselin. Singularity Analysis and Representation of the General Gough- Stewart Platform. The International Journal of Robotics Research,2000,19(3):271-288
144 J. Wang, C. M. Gosselin. Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms. Proceedings of the ASME Design Engineering Technical Conference, Montréal, Canada,2002,(5B):953-960
145 J. Wang, C. M. Gosselin. Singularity Loci of a Special Class of Spherical 3-DOF Parallel Me- chanisms with Prismatic Actuators. Journal of Mechanical Design,2004,(126):319-326
146 D. Zlatanov, I. Bonev, and C. M. Gosselin. Constraint Singularities. News Letter.2002
147 O. Ma, J. Angeles. Architecture Singularity of Platform Manipulators. In IEEE Int. Conf. on Ro- botics and Automation., Sacramento, USA,1991(2):1542-1547
148 P. Zsombor-Murray, M. Husty, D. Hartmann. Singular Stewart-Gough Platforms with Sphe- rocylindrical and Spheroconical Hip Joint Trajectories. In 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy,1995:1886-1890
149 G. Z. Wang. Singularity Analysis of a Class of the 6/6 Stewart Platforms. Proc. of the 1998 ASME Design Engineering Technical Conferences, Atlanta, USA,1998:389-401
150 Y. Takeda, H. Funabashi, Y. Sasaki. Analysis of Working Space and Motion Transmissibility of Spherical in-Parallel Actuated Mechanism. JSME Int. J.,1995,Series C 39(1):85-93
151 S. Bhattacharya, H. Hatwal, A. Ghosh. Comparison of an Exact and an Approximate Method of Singularity Avoidance in Platform Type Parallel Manipulators. Mech. Mach. Theory,1998,33(7):
965-974
152 G. L. Long. Use of the Cylindroid for the Singularity Analysis of Rank 3 Robot Manipulators. Mech. Mach. Theory,1997,32(8):391-404
153 X. W. Kong. Generation of 6-SPS Parallel Manipulators. Proc. of the 1998 ASME Design Engi- neering Technical Conferences, Atlanta, USA,1998:431-440
154 P. R. McAree, R. W. Daniel. An Explanation of never-special Assembly Changing Motions for 3-3 Parallel Manipulators. Int. J. of Robotics Research,1999,18(6):556-574
155 A. Karger. Singularities and Self-Motions of Equiform Platform. Mech. Mach. Theory,2001, 36(7):801-815
156 赵新华,彭商贤.并联机器人奇异位形研究.机械工程学报,2000,36(5):35-37
157 G. Yang, I. –M. Chen, W. Lin, et al. Singularity Analysis of three-legged Parallel Robots Based on Passive-Joint Velocities. Proceedings-IEEE International Conference on Robotics and Auto- mation, Seoul,2001,(3):2407-2412
158 J. F. O’Brien, J. T. Wen. Kinematic Control of Parallel Robots in the Presence of Unstable Sin- gularities. Proceedings-IEEE International Conference on Robotics and Automation, Seoul, 2001,(1):354-359
159 S. Bandyopadhyay, A. Ghosal. Analysis of Configuration Space Singularities of Closed-Loop Mechanisms and Parallel Manipulators. Mechanism and Machine Theory,2004,39(5):519-544
160 J. H. Lee, H. W. Kim, B. J. Yi, et al. Singularity-Free Algorithms and Design Scheme for a New 6-DOF Parallel Haptic Device. Proceedings-IEEE International Conference on Robotics and Automation, Washington, DC, United States,2002,(4):4229-4235
161 S. Shamik, D. Bhaskar, M. Kumar. Variational Approach for Singularity-Free Path-Planning of Parallel Manipulators. Mechanism and Machine Theory,2003,38(11):1165-1183
162 D. G. Raffaele. Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators Are Locked. Proceedings of the ASME Design Engi- neering Technical Conference, Chicago, IL, United States,2003,(2B):1117-1123
163 M. Zoppi, L. E. Bruzzone, R. M.Molfino, et al. Constraint Singularities of Force Transmission in Nonredundant Parallel Robots with Less Than Six Degrees of Freedom. Journal of Mecha- nical Design, Transactions of the ASME,2003,125(3):557-563
164 M. Arsenault, R. Boudreau. The Synthesis of Three-Degree-of-Freedom Parallel Mechanisms with Revolute Joints (3-RRR) for An Optimal Singularity-Free Workspace. Journal of Robotic Systems,2004,21(5):259-274
165 Z. Huang, Y. Zhao, J. Wang, et al. Kinematic Principle and Geometrical Condition of General- Linear-Complex Special Configuration of Parallel Manipulators. Mechanism and Machine Theory,1999,34(8):1171-1186
166 Z. Huang, X. Du. General-Linear-Complex Special Configuration Analysis of 3/6-SPS Stewart Parallel Manipulator. China Mechanical Engineering,1999,10(9):997-1000
167 黄 真 , 李 艳 文 , 郭 希 娟 . 运 动 物 体 上 三 点 速 度 关 系 及 其 应 用 . 中 国 机 械 工程,2003,(15):1319-1322
168 Z. Huang, L. Chen, Y. W. Li. The Singularity Principle and Property of Stewart Parallel Mani- pulator. Journal of Robotic Systems,2003,(4):163-176
169 X. Kong, C. M. Gosselin. Uncertainty Singularity Analysis of Parallel Manipulators Based on the Instability Analysis of Structures. The International Journal of Robotics Research,2001,
20(11):847-856
170 S. A. Joshi, L. W. Tsai. Jacobian analysis of limited-DOF parallel manipulators. Journal of Me- chanical Design, Transactions of the ASME,2002,124(2):254-258
171 Y. F. Fang, L. W. Tsai. Inverse Velocity and Singularity Analysis of Low-DOF Several Manipu- lator. Journal of Robotics,2003,20(4):177-188
172 V. K. Chan, I. Ebert-Uphold. Investigation of the Deficiencies of Parallel Manipulators in Sin- gular Configurations Through the Jacobian Nullspace. Proceedings-IEEE International Con- ference on Robotics and Automation, Seoul,2001,(2):1313-1320
173 沈辉,吴学忠,刘冠峰.并联机构中奇异位形的分类与判定.机械工程学报,2004,40(4):26-31
174 方德植,陈奕培.射影几何.北京:高等教育出版社 1983:264-270
175 黄真.空间机构学.北京:机械工业出版社,1991:94-124
176 K. M. Lee and D. K. Shah. Kinematic Analysis of a Three-Degree-of-Freedom in-Parallel Ac- tuated Manipulator. IEEE Journal of Robotics and Automation,1988,4(2):354-360
177 K. M. Lee and D. K. Shah. Kinematic Analysis of a Three-Degree-of-Freedom In-parallel Ac- tuated Manipulators. Proc. IEEE Int.Conf. Robotics and Automation,1987,(1):345-350
178 K. J. Waldron, M. Raghavan, B. Roth. Kinematics of a Hybrid serial-Parallel Manipulation Sys- tem. ASME J. of Dyn. Sys. Meas. and Cont.,1989,(111):211-221
179 G. H. Pfreundschuh, T. G. Suger, V. Kumar, Design and Control of a 3-DOF In-Parallel Actuated Manipulator. J. of Rob. Sys.,1994,11(2):103-115
180 K. M. Lee, S. Arjuman. A 3-DOF Micro-Motion In-Parallel Actuated Manipulator, IEEE Trans. On Robot and Automation,1991,7(5):634-640
181 S. M. Song, M. D. Zhang. A Study of Reactional Force Compensation Based on Three-Degree- of Freedom Parallel Platforms. J. of Robotic Systems,1995,12(12):783-794
182 赵铁石,赵永生,黄真.欠秩并联机器人能连续转动转轴存在的物理条件和数学判据.机器人.1999,21(5):347-351
183 王晶.欠秩三自由度并联机构瞬时运动的主螺旋分析.[燕山大学博士论文].2000:53-61
184 F. Pierrot, O. Company. H4: a New Family of 4-DOF Parallel Robots. IEEE/ASME Inter- national Conference on Advanced Intelligent Mechatronics, Atlanta,1999:508-513
185 L. Rolland. The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Hand- ling. ASME Dynamic Systems and Control Division of IMECE'99 Conference, Nashville, 1999:831-844
186 J. P. Merlet. Parallel Robots. Netherland: Kluwer Academic Publishers,2000:187-190
2 蔡自兴.机器人学.北京:清华大学出版社,2000:1-12
3 蒋新松.机器人学导论.沈阳:辽宁科学技术出版社,1994:1-6
4 黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京:机械工业出版社,1997:29-30,148-165, 226-267
5 A. Cauchy. Deuxieme Memoire Sur les Polygons et les Polyedres. Journal de I’Ecole Polytechnique,1813,(5):87-88
6 J. E. Gwinnett. Amusement Devices. US Patent No. 1789680, January 201931
7 W. L. G. Pollard. Spray Painting Machine. US Patent No. 2213108, August 261940
8 B. Dasgupta, T. S. Mruthyunjaya. The Stewart Platform Manipulator: A Review. Mech. And Mach. Theory,2000(35):15-40
9 K. H. Hunt. Kinematic Geoemtry of Mechanisms. Oxford, Claredon Press,1978:304-320
10 E. F. Fichter. A Stewart Platform-Based Manipulator: General Theory and Practical Construction. Int. J. of Rob. Res.,1986,5(2):157-182
11 J. C. Hudgens, D. Tesar. Fully-parallel Six Degree of Freedom Micro-manipulator: Kinematic Analysis and Dynamic Model. The 20th Biennial ASME Mechanisms Conference on Trends and Development in Mechanisms Machines and Robotics, Kissimmee, FL, USA,1988,15(3):29-37
12 K. M. Lee, S. Arjunan. Three degree of freedom Micro-Motion In-Parallel Actuated Manipulator. IEEE Conference on Robotics and Automation, Scottsdale, AZ, USA,1989:1698-1703
13 D. R. Kerr. Analysis Properties and Design of a Stewart-Platform Transducer. Journal of Mechanisms, Transmissions and Automation in Design,1989,(111):25-28
14 J. P. Merlet. Singular Configurations and Direct Kinematics of a New Parallel Manipulator in Proc. of the IEEE Conf. on Rob. Aut., Nice, France,1992:338-343
15 C. C. Nguyen, et al. Analysis and Experimentation of a Stewart Platform-Based Force/Torque Sensor. International Journal of Robotics and Automation,1993,7(3):133-140
16 J. P. Merlet. Parallel Manipulators: State of the Art and Perspectives. Journal of Advanced Ro- botics,1994,8(6):589-596
17 R. Aronson. Hexpods: Hot or Ho Hum. Manufacturing Engineering,1997,(10):60-67
18 汪劲松,黄田.并联机床-机床行业面临的机遇与挑战.中国机械工程,1999,10(42):1103-1107
19 J. Hollingum. Features: Hexapods to Take Over. Journal of Industrial Robot,1997,24(6):428-431
20 J. M. Fitzgerald. Evaluating the Stewart Platform for Manufacturing. Robotics Today,1993,6(1): 1-3
21 G. Pritschow, K. H. Wurst. Systematic Design of Hexapods and Other Parallel Link Systems. Annals of CIRP-Manufacturing Technology,1997,46(1):291-295
22 汪劲松.VAMITIY 虚拟轴机床.制造技术与机床.1998,(2):42-43
23 高峰,金振林,刘辛军.六自由度虚拟轴机床.中国发明专利,公开号:CN1261018A
24 赵永生.3 维移动 2 维转动 5 轴联动并联机床机构.专利号:02104943.2
25 杨宜民.仿生型步进式直线驱动器的研究.机器人,1994:140-143
26 安辉.压电陶瓷驱动六自由度并联微动机器人的研究.[哈尔滨工业大学博士学位论文].1995:63-76
27 毕树生,王守杰,宗光华.串并联微动机构的运动学分析.机器人,1997,19(4):259-264
28 陈滨.机器人手腕测力装置.机械工程学报.1988,24(2):83-87
29 熊有伦,丁汉,刘恩沧.机器人学.北京:机械工业出版社,1993:55-69
30 熊有伦.机器人力传感器的各向同性.自动化学报.1996,22(1):10-17
31 金振林,高峰,刘辛军.新型力解耦和各向同性结构的机器人六维力传感器.传感器技术,2000,19(4):26-28
32 金振林,高峰,陈贵林.新型 3-2-1 正交结构机器人六分量腕力传感器设计.机械设计,2001,18(5):12-14
33 H. Wang. F. Gao. Design of 6-Axis Force/Torque Sensor Based on Stewart Platform Related to Isotropy. Chinese Journal of Mechanical Engineering,1998,11(3):217-222
34 K. H. Hunt. Structural Kinematics of In-Parallel-Actuated Robot-Arms. J. of Mech. Trans. and Aut. in Des.,1983,(105):705-712
35 R. D. Clavel. A Fast Robot with Parallel Geometry. Proc. of the Int. Symp. on Industrial Rob., Switzerland,1988:91-100
36 L. W. Tsai, C. G. Walsh, R. Stamper. Kinematics of a novel three DOF translation platform. IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA,1996, (4):3446-3451
37 Z. Huang, Y. F. Fang. Kinematic Characteristics Analysis of 3-DOF in-Parallel Actuated Pyramid Mechanisms. Mechanism and Machine Theory,1996,31(8):1009-1018
38 J. M. Hervé. The Lie Group of Rigid Body Displacements, a Fundamental Tool for Mechanism Design. Mechanism and Machine Theory,1999,34(5):719-730
39 赵铁石,黄真.欠秩空间并联机器人输入选取的理论和应用.机械工程学报,2000,36(10):81-85
40 赵铁石.空间少自由度并联机器人机构分析与综合的理论研究.[燕山大学工学博士论文].2000:26-32
41 D. Zlatanov, C. M. Gosselin. A New Parallel Architecture with Four Degrees of Freedom. The 2nd Workshop on Computational Kinematics, Seoul,2001:57-66
42 金琼,杨廷力,刘安心,等.基于单开链单元的三平移一转动并联机器人机构型综合.解放军理工大学学报,2001,2(3):15-19
43 Q. Jin, T. L. Yang, A. X. Liu, et al. Structure Synthesis of a Class of Five-DOF Parallel Robot Mechanisms Based on Single-Opened-Chain Units. ASME Design Engineering Technical Conferences, Pisttsburgh, United States,2001,(2):1303-1308
44 J. P. Merlet. Optimal Design for the Micro Parallel Robot MIPS. IEEE International Conference on Robotics and Automation, Washington,2002:1149-1154
45 W. J. Chen, M. Y. Zhao, J. P. Zhou, et al. A 2T-2R 4-DOF Parallel Manipulator. ASME Design Engineering Technical Conferences, Montreal,2002,(5B):881-885
46 F. Gao, W. M. Li, X. C. Zhao, et al. New Kinematic Structures for 2-, 3-, 4-, and 5-DOF Parallel Manipulator Designs. Mechanism and Machine Theory,2002,37(11):1395-1411
47 杨廷力.机器人机构拓扑结构学.北京:机械工业出版社,2004:55-82
48 杨廷力,金琼,刘安心,等.基于单开链单元的三平移并联机器人机构型综合及分类.江苏石油化工学院学报,2000,12(4):35-38
49 Q. Jin, T. L. Yang. Structure Synthesis of Parallel Manipulators with 3-dimension Translation and 1-Dimension Rotation. ASME Design Engineering Technical Conferences,Montreal,2002, (5B):907-913
50 Q. Jin, T. L. Yang. Synthesis and Analysis of a Group of 3-Degree-of-Freedom Decoupling Parallel Manipulators. ASME Design Engineering Technical Conferences, Montreal,2002,(5A): 361-368
51 金琼,杨廷力,刘安心,等.基于单开链单元的三平移一转动并联机器人机构型综合及机构分类.中国机械工程,2001,12(9):1038-1043
52 杨廷力,金琼,刘安心,等.基于单开链单元的欠秩并联机器人机构型综合的一般方法.机械科学与技术,2001,20(3):321-325
53 杨廷力,金琼,刘安心,等.基于单开链单元的三平移并联机器人机构型综合及其分类.机械工程学报,2002,38(8):31-36
54 Z. Huang, Q. C. Li. Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using Constraint-Synthesis Method. International Journal of Robotics Research,2003,22(1):59-79
55 Q. C. Li, Z. Huang. A Family of Symmetrical Lower-Mobility Parallel Mechanisms with Spherical and Parallel Subchains. Journal of Robotic Systems,2003,20(6):297-305
56 Z. Huang, Q. C. Li. General Methodology for Type Synthesis of Lower-Mobility Symmetrical Parallel Manipulators and Several Novel manipulators. International Journal of Robotics Research,2002,21(2):131-145
57 李秦川,黄真.基于位移子群分析的三自由度移动并联机构型综合.机械工程学报,2003, 39(6):18-21
58 Z. Huang, Q. C. Li. Type Synthesis Principle of Minor-mobility Parallel Manipulators. Science in China (Series E),2002,45(3):241-248
59 Q. C. Li, Z. Huang. Mobility Analysis of a Novel 3-5R Parallel Mechanism Family. IEEE International Conference on Robotics & Automation, Taipei, Taiwan, P. R. China,2003(2):1887-1892
60 Q. C. Li, Z. Huang. Type Synthesis of 4-DOF Parallel Manipulators. IEEE International Conference on Robotics & Automation, Taiwan, P. R. China,2003,(1):755-760
61 Q. C. Li, Z. Huang. Mobility Analysis of Lower-Mobility Parallel Manipulators Based on Screw Theory. IEEE International Conference on Robotics & Automation,Taiwan, P. R. China, 2003,(1):1179-1184
62 Q. C. Li, Z. Huang. Type Synthesis of 5-DOF Parallel Manipulators. IEEE International Conference on Robotics & Automation, Taiwan, P. R. China,2003,(1):1203-1208
63 Z. Huang, Q. C. Li. On the Type Synthesis of Lower-Mobility Parallel Manipulators. Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Canada,2002:272-283
64 Z. Huang, Q. C. Li. Some Novel Minor-Mobility Parallel Mechanisms, Parallel Kinematics Seminar, Fraunhofer IWU, Chemnitz, Germany,2002:895-905
65 Z. Huang, Q. C. Li. Construction and Kinematic Properties of 3-UPU Parallel Mechanism. ASME Design Engineering Technical Conferences, Montreal, Canada, 2002,(5B):1027-1033
66 Z. Huang, Q. C. Li. Some Novel Lower-mobility Parallel Mechanisms. ASME Design Engineering Technical Conferences, Montreal, Canada, 2002,(5B):851-855
67 李秦川 . 对称少自由度并联机器人型综合理论及新机型综合 .[ 燕山大学博士论文].2003:57-69
68 E. F. Fichter. Kinematics of A Parallel Connection Manipulator. ASME Paper, 84-DET-45.1984: 8-8
69 D. C. H. Yang, T. W. Lee. Feasibility Study of a Platform Type of Robotic Manipulators from Kinematic Viewpoint. ASME J. Mech. Transmiss. Aut. Des.,1984,(106):191-198
70 J. P. Merlet. Direct Kinematic and Assembly Motion Parallel Manipulators. Int. J. Robotics Research,1992,11(2):150-162
71 Huang Z. Modeling Fomulation of 6-DOF Multi-loop Parallel Manipulators Part 2-Dymanic Modeling and Example. Proc. Of 4th IFToMM Conf. on Mechanisms and CAD. Romania.1985
72 曲义远,黄真.空间六自由度多回路机构位置的三维搜索方法.机器人.1989,89(5):25-29
73 C. Innocenti, V. P. Castelli. A New Kinematic Model for the Closure Equations of the Generalized Stewart Platform Mechanism. Symposium on Advance in Robot Kinematics, Linz, Austria,1990:457-457
74 C. Innocenti, V. P. Castelli. Direct Position Analysis of the Stewart Platform Mechanism. Mach. Mech. Theory,1990,25(6):611-621
75 C. Innocenti, V. P. Castelli. Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm. ASME J. Mech. Des.,1993,(115):932-937
76 C. Innocenti, V. P. Castelli. Closed-Form Direct Position Analysis of a 5-5 Parallel Mechanism. ASME J. Mech. Des.,1993,(115):515-521
77 C. Innocenti. Direct Kinematics in Analytical Form of the 6-4 Fully Parallel Mechanism. ASME J. of Mechanical Design,1995,(117):89-95
78 C. W. Wampler, A. P. Morgan. and A. J. Sommense. Numerical Continuation Methods for Solving Polynomial Systems Arising in Kinematics. ASME J. Mech. Des.,1990,(112):59-68
79 M. Raghavan. The Stewart Platform of General Geometry Has 40 Configurations. ASME J. Mech. Des.,1993,(115):277-282
80 梁崇高,荣辉.一种 Stewart 平台型机械手位移正解,机械工程学报,1991,27(2):26-30
81 W. Lin, M. Griffs, J. Duffy. Forward Displacement Analyses of the 4-4 Stewart Platforms. ASME J. Mech. Des.,1992,(114):444-450
82 J. Duffy, et. al. Closed-Form Forward Displacement Analysis of the 4-5 In-Parallel Platforms. ASME J. of Mechanical Design,1994,(116):47-53
83 B. Dasgupta, T. S. Mruthyunjaya. A Constructive Predictor-Corrector Algorithm for the Direct Position Kinematic Problem for a General 6-6 Stewart Platform. Mech. Mach. Theory,1996, 31(6):799-811
84 G. R. Dunlop, T. P. Jones. Position Analysis of 3-DOF Parallel Manipulator. Mech. Mach. Theory,1997,32(8):903-920
85 T. K. Tanev. Kinematics of a Hybrid (Parallel-Serial) Robot Manipulator. Mech. Mach. Theory,2000,35(10):1183-1196
86 X. W. Kong, C. M. Gosselin. Forward Displacement Analysis of Third-Class Analytic 3-RPR Planar Parallel Manipulators. Mech. Mach. Theory,2001,36(9):1009-1018
87 R. Kamra, D. Kohli, A. K. Dhlingra. Forward Displacement Analysis of a Six-DOF Parallel Manipulator Actuated by 3R3P and 4R2P Chains. Mech. Mach. Theory,2002,37(5):619-637
88 P. Ji, H. T. Wu. Kinematics Analysis of an Offset 3-UPU Translational Parallel Robotic Manipulator. Robotics and Systems,2003,42(2):117-123
89 J. P. Merlet. Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis. The International Journal of Robotics Research,2004,23(3):221-235
90 吴生富,王洪波,黄真.并联机器人工作空间的研究.机器人,1991,91(3):33-39
91 Z. F. Li, T. J. Tarn, A. K. Bejczy. Dynamic Workspace Analysis of Multiple Cooperating Robot Arms. IEEE Transaction on Robotics and Automation,1991,7(5):589-596
92 C. M. Gosselin. Determination of the Workspace of 6-DOF Parallel Manipulators. J. of Mech. Des.,1990,(112):331-336
93 V. Kumar. Characterization of Workspaces of Parallel Manipulators. ASME J. Mech. Des.,1992, (114):368-375
94 O. Masory, J. Wang. Workspace Evaluation of Stewart Platforms. Advanced Robotics,1995,(9): 443-461
95 姜虹,贾书海,王小椿. 6 自由度并联机器人的结构参数对活动空间的影响.机械科学与技术.1999,18(2):259-261
96 T. Huang, J. Wang, D. J. Whitehouse. Closed Form Solution to Workspace of Hexapod-Based Virtual Axis Machine Tools. Transactions of the ASME. Journal of Mechanical Design,1999, 121(3):26-31
97 L. W. Tsai, Sameer Joshi. Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator. Transactions of the ASME. Journal of Mechanical Design,2000,122(12):439-446
98 姜兵,黄田.求解 6-PSS 并联机器人操作机姿态空间的瞬时机架法.机械工程学报.2000,36(9): 5-10
99 F. Gao, X. J. Liu, X. Chen. The Relationships Between the Shapes of the Workspace and the Link Lengths of 3-DOF Symmetrical Planar Parallel Manipulators. Mech. Mach. Theory,2001, 36(2):205-220
100 I. A. Bonev, J. Ryu. A New Approach to Orientation Workspace Analysis of 6-DOF Parallel Manipulators. Mech. Mach. Theory,2001,36(1):15-28
101 M. Badescu, Constantions Mavroidis. Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms with Joint Constraints. Transactions of the ASME. Journal of Mechanical Design,2004,126(3):291-300
102 S. L. Canfield, R. R. Soper, C. F. Reinholtz. Velocity Analysis of Parallel Manipulators by Truss Transformations. Mechanism and Machine Theory,1999,34(3):345-357
103 黄真,郭希娟.虚设机构法正确性的论证.机械工程学报,2001,37(5):40-43
104 郭希娟.并联机器人机构动力学基础理论研究.[燕山大学博士论文].2002:27-46
105 黄真,王洪波.复杂多环空间机构动力分析的影响系数法.机械工程学报.1988,24(3):74-80
106 J. K. Salisbury, J. J. Craig. Articulated Hands: Force Control and Kinematic Issues. Int. J. of Robot. Res.,1982,1(1):4-17
107 T. Yoshikawa, Manipulability of Robotic Mechanisms. Int. J. of Robot. Res.,1985,4(2):3-9
108 J. Angeles, A. Rojas. Manipulator Inverse Kinematics Via Condition Numer Minimization and Condition. Int. J. Robotics and Automation,1987,2(2):61-69
109 C. M. Gosselin, J. Angeles. A Global Performance Index for the Kinematic Optimization of Robotic Manipulators. Transactions of the ASME,1991,(113):220-226
110 M. V. Kircanski. Robotic Isotropy and Optimal Robot Design of Planar Manipulators. IEEE Conf. On Robotics and Automation,1994:1100-1105
111 J. G. Wang, C. Gosselin. Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms. Mechanism and Machine Theory,1999,34(4):437-452
112 J. G. Wang, C. Gosselin. Static Balancing of Spatial Four-Degree-of-Freedom Parallel Mechanisms. Mechanism and Machine Theory,2000,35(5):563-592
113 T. Huang, et al. Design of Hexapod-Based Machine Tools with Specified Orientation Capability and Well-Conditioned Dexterity. The 10th World Congress for Theory of Machines and Mechanisms, Finland,Oulu,1999:20-24
114 刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论.[燕山大学工学博士论文].1999:16-34
115 X. J. Liu, J. S. Wang and F. Gao. Performance Atlases of the Workspace for 3-DOF Parallel Manipulators. Robotica,2000,18(5):563-568
116 高峰,刘辛军,金振林,等.并联六自由度 Stewart 微动机器人机构设计方法.清华大学学报(自然科学版).2001,41(8):16-20
117 金振林,高峰,李金良.并联 3-2-1 结构新型微操作手及其承载能力分析.中国机械工程.2002,13(2):105-108
118 金振林,赵现朝,高峰.新型并联机床的柔度指标及其在工作空间内的分布研究.中国机械工程.2002,13(3):184-186
119 金振林,高峰.一种新颖的六自由度并联机床结构型式及其局部各向同性分析.中国机械工程.2001,12(12):1359-1361
120 X. J. Guo, F. Q. Chang, S. J. Zhu. Acceleration and Dexterity Performance Indices for 6-DOF and Lower-Mobility Parallel Mechanism. ASME 2004 International Design Engineering Technical Conferences and the Computers and Information in Engineering Conference, Salt Lake City, Utah USA,2004,(2A):251-255
121 杨廷力.空间机构的结构分析与综合-II 空间复链的结构分析.机械设计,1987,(3):1-11
122 孔宪文.空间运动链主动运动副干涉判别.机械传动,1999,(4):23-25
123 D. E. Whitney. The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators. Journal of Dynamic Systems, Measurement and Control Trans. ASME,1972,94(4):303-330
124 B. Dizioglu. Theory and Practice of Spatial Mechanisms with Special Position of the Axes. Mechanism and Machine Theory,1978,13(2):139-153
125 J. Eddie Baker. Limit Position of Spatial Linkages Via Connectivity Sum Reduction. Journal of Mechanical Design Transactions of ASME,1979,101(4):504-507
126 M. A. Uchiyama. Study of Computer Control of Motion of a Mechanical Arm, Bull, JSME, 1979,22(2):173-177
127 Sugimoto, K. Duffy, J. Hunt, K. H. Special Configurations of Spatial Mechanisms and Robot Arms. Mech. Mach. Theory,1982,17(2):119-132
128 Q. X. Zhang, Q. S. Huang. New Approach to the Study of Special Configuration of Manipulators, Proceedings of the 14th International Symposium on Industrial Robots, Goteborg, Sweden,1984:623-632
129 黄真,曲义远.空间并联多环机构的特殊位形分析.第五届全国机构学学术讨论会.庐山.1987:1-7
130 J. P. Merlet. Singular Configurations of Parallel Manipulators and Grassmann Geometry. Int. J. of Rob Res.,1989,8(5):45-56
131 D. Basu, A. Ghosal, Singularity Analysis of Platform-Type Multi-Loop Spatial Mechanisms. Mech. Mach. Theory,1997,32(3):375-389
132 曲义远.并联机器人特殊位形及位置分析.[燕山大学工学硕士论文].1988:26-41
133 C. L. Collins, J. M. MeCarthy, Singularity Loci of Two Triangular Parallel Manipulators, Pro- ceedings of the 1997 8th International Conference on Advanced Robotics, Monterey, USA, 1997:473-478
134 J. P. Merlet. On the Infinitesimal Motion of a Parallel Manipulator in Singular Configuration. IEEE Conf. on Rob. Aut., Nice, France,1992:320-325
135 D. A. Kumar, I. M. Chen, Y. S. Huat, et al. Singularity-Free Path Planning Of Parallel Manipu- lators Using Clustering Algorithm and Line Geometry, Proceedings-IEEE International Conference on Robotics and Automation,Taipei,2003,(1):761-766
136 W. Alon, O. Erika, S. Moshe, et al. Application of Line Geometry and Linear Complex Appro- ximation to Singularity Analysis of the 3-DOF CaPaMan Parallel Manipulator. Mechanism and Machine Theory,2004,39(1):75-95
137 B. Monsarrat, C. M. Gosselin. Singularity Analysis of a Three-Leg Six-Degree-of-Freedom Pa- rallel Platform Mechanism Based on Grassmann Line Geometry. International Journal of Robo- tics Research,2001,20(4):312-326
138 C. M. Gosselin, J. Angeles. Singularity Analysis of Closed-Loop Kinematic Chains. IEEE Tran- sactions on Robotics and Automation,1990,6(3):281-290
139 J. Sefrioui, C. M. Gosselin. Singularity Analysis and Representation of Planar Parallel Manipu- lators. Robotics and Autonomous System,1992,(10):209-224
140 J. Sefrioui, C. M. Gosselin. On the Quadratic Nature of the Singularity Curves of Planar Three- Degree-of-Freedom Parallel Manipulators. Mechanism and Machine Theory,1995,30(4): 533-551
141 C. M. Gosselin, J. G. Wang. Singularity Loci of Planar Parallel Manipulators with Revolute Ac- tuators. Robotics and Autonomous System,1997,(21):377-398
142 J. Wang, C. M. Gosselin. Kinematic Analysis and Singularity Representation of Spatial Five-De- gree-of-Freedom Parallel Mechanisms. J. of Robotic Systems,1997,14(12): 851-869
143 B. M. St-Onge, C. M. Gosselin. Singularity Analysis and Representation of the General Gough- Stewart Platform. The International Journal of Robotics Research,2000,19(3):271-288
144 J. Wang, C. M. Gosselin. Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms. Proceedings of the ASME Design Engineering Technical Conference, Montréal, Canada,2002,(5B):953-960
145 J. Wang, C. M. Gosselin. Singularity Loci of a Special Class of Spherical 3-DOF Parallel Me- chanisms with Prismatic Actuators. Journal of Mechanical Design,2004,(126):319-326
146 D. Zlatanov, I. Bonev, and C. M. Gosselin. Constraint Singularities. News Letter.2002
147 O. Ma, J. Angeles. Architecture Singularity of Platform Manipulators. In IEEE Int. Conf. on Ro- botics and Automation., Sacramento, USA,1991(2):1542-1547
148 P. Zsombor-Murray, M. Husty, D. Hartmann. Singular Stewart-Gough Platforms with Sphe- rocylindrical and Spheroconical Hip Joint Trajectories. In 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy,1995:1886-1890
149 G. Z. Wang. Singularity Analysis of a Class of the 6/6 Stewart Platforms. Proc. of the 1998 ASME Design Engineering Technical Conferences, Atlanta, USA,1998:389-401
150 Y. Takeda, H. Funabashi, Y. Sasaki. Analysis of Working Space and Motion Transmissibility of Spherical in-Parallel Actuated Mechanism. JSME Int. J.,1995,Series C 39(1):85-93
151 S. Bhattacharya, H. Hatwal, A. Ghosh. Comparison of an Exact and an Approximate Method of Singularity Avoidance in Platform Type Parallel Manipulators. Mech. Mach. Theory,1998,33(7):
965-974
152 G. L. Long. Use of the Cylindroid for the Singularity Analysis of Rank 3 Robot Manipulators. Mech. Mach. Theory,1997,32(8):391-404
153 X. W. Kong. Generation of 6-SPS Parallel Manipulators. Proc. of the 1998 ASME Design Engi- neering Technical Conferences, Atlanta, USA,1998:431-440
154 P. R. McAree, R. W. Daniel. An Explanation of never-special Assembly Changing Motions for 3-3 Parallel Manipulators. Int. J. of Robotics Research,1999,18(6):556-574
155 A. Karger. Singularities and Self-Motions of Equiform Platform. Mech. Mach. Theory,2001, 36(7):801-815
156 赵新华,彭商贤.并联机器人奇异位形研究.机械工程学报,2000,36(5):35-37
157 G. Yang, I. –M. Chen, W. Lin, et al. Singularity Analysis of three-legged Parallel Robots Based on Passive-Joint Velocities. Proceedings-IEEE International Conference on Robotics and Auto- mation, Seoul,2001,(3):2407-2412
158 J. F. O’Brien, J. T. Wen. Kinematic Control of Parallel Robots in the Presence of Unstable Sin- gularities. Proceedings-IEEE International Conference on Robotics and Automation, Seoul, 2001,(1):354-359
159 S. Bandyopadhyay, A. Ghosal. Analysis of Configuration Space Singularities of Closed-Loop Mechanisms and Parallel Manipulators. Mechanism and Machine Theory,2004,39(5):519-544
160 J. H. Lee, H. W. Kim, B. J. Yi, et al. Singularity-Free Algorithms and Design Scheme for a New 6-DOF Parallel Haptic Device. Proceedings-IEEE International Conference on Robotics and Automation, Washington, DC, United States,2002,(4):4229-4235
161 S. Shamik, D. Bhaskar, M. Kumar. Variational Approach for Singularity-Free Path-Planning of Parallel Manipulators. Mechanism and Machine Theory,2003,38(11):1165-1183
162 D. G. Raffaele. Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators Are Locked. Proceedings of the ASME Design Engi- neering Technical Conference, Chicago, IL, United States,2003,(2B):1117-1123
163 M. Zoppi, L. E. Bruzzone, R. M.Molfino, et al. Constraint Singularities of Force Transmission in Nonredundant Parallel Robots with Less Than Six Degrees of Freedom. Journal of Mecha- nical Design, Transactions of the ASME,2003,125(3):557-563
164 M. Arsenault, R. Boudreau. The Synthesis of Three-Degree-of-Freedom Parallel Mechanisms with Revolute Joints (3-RRR) for An Optimal Singularity-Free Workspace. Journal of Robotic Systems,2004,21(5):259-274
165 Z. Huang, Y. Zhao, J. Wang, et al. Kinematic Principle and Geometrical Condition of General- Linear-Complex Special Configuration of Parallel Manipulators. Mechanism and Machine Theory,1999,34(8):1171-1186
166 Z. Huang, X. Du. General-Linear-Complex Special Configuration Analysis of 3/6-SPS Stewart Parallel Manipulator. China Mechanical Engineering,1999,10(9):997-1000
167 黄 真 , 李 艳 文 , 郭 希 娟 . 运 动 物 体 上 三 点 速 度 关 系 及 其 应 用 . 中 国 机 械 工程,2003,(15):1319-1322
168 Z. Huang, L. Chen, Y. W. Li. The Singularity Principle and Property of Stewart Parallel Mani- pulator. Journal of Robotic Systems,2003,(4):163-176
169 X. Kong, C. M. Gosselin. Uncertainty Singularity Analysis of Parallel Manipulators Based on the Instability Analysis of Structures. The International Journal of Robotics Research,2001,
20(11):847-856
170 S. A. Joshi, L. W. Tsai. Jacobian analysis of limited-DOF parallel manipulators. Journal of Me- chanical Design, Transactions of the ASME,2002,124(2):254-258
171 Y. F. Fang, L. W. Tsai. Inverse Velocity and Singularity Analysis of Low-DOF Several Manipu- lator. Journal of Robotics,2003,20(4):177-188
172 V. K. Chan, I. Ebert-Uphold. Investigation of the Deficiencies of Parallel Manipulators in Sin- gular Configurations Through the Jacobian Nullspace. Proceedings-IEEE International Con- ference on Robotics and Automation, Seoul,2001,(2):1313-1320
173 沈辉,吴学忠,刘冠峰.并联机构中奇异位形的分类与判定.机械工程学报,2004,40(4):26-31
174 方德植,陈奕培.射影几何.北京:高等教育出版社 1983:264-270
175 黄真.空间机构学.北京:机械工业出版社,1991:94-124
176 K. M. Lee and D. K. Shah. Kinematic Analysis of a Three-Degree-of-Freedom in-Parallel Ac- tuated Manipulator. IEEE Journal of Robotics and Automation,1988,4(2):354-360
177 K. M. Lee and D. K. Shah. Kinematic Analysis of a Three-Degree-of-Freedom In-parallel Ac- tuated Manipulators. Proc. IEEE Int.Conf. Robotics and Automation,1987,(1):345-350
178 K. J. Waldron, M. Raghavan, B. Roth. Kinematics of a Hybrid serial-Parallel Manipulation Sys- tem. ASME J. of Dyn. Sys. Meas. and Cont.,1989,(111):211-221
179 G. H. Pfreundschuh, T. G. Suger, V. Kumar, Design and Control of a 3-DOF In-Parallel Actuated Manipulator. J. of Rob. Sys.,1994,11(2):103-115
180 K. M. Lee, S. Arjuman. A 3-DOF Micro-Motion In-Parallel Actuated Manipulator, IEEE Trans. On Robot and Automation,1991,7(5):634-640
181 S. M. Song, M. D. Zhang. A Study of Reactional Force Compensation Based on Three-Degree- of Freedom Parallel Platforms. J. of Robotic Systems,1995,12(12):783-794
182 赵铁石,赵永生,黄真.欠秩并联机器人能连续转动转轴存在的物理条件和数学判据.机器人.1999,21(5):347-351
183 王晶.欠秩三自由度并联机构瞬时运动的主螺旋分析.[燕山大学博士论文].2000:53-61
184 F. Pierrot, O. Company. H4: a New Family of 4-DOF Parallel Robots. IEEE/ASME Inter- national Conference on Advanced Intelligent Mechatronics, Atlanta,1999:508-513
185 L. Rolland. The Manta and the Kanuk: Novel 4-DOF Parallel Mechanisms for Industrial Hand- ling. ASME Dynamic Systems and Control Division of IMECE'99 Conference, Nashville, 1999:831-844
186 J. P. Merlet. Parallel Robots. Netherland: Kluwer Academic Publishers,2000:187-190
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |