Parallel Mechanisms with Two or Three Degrees of Freedom

作     者：刘辛军 汪劲松 李铁民 段广洪 

作者机构：Manufacturing Engineering Institute Department of Precision Instruments and MechanologyTsinghua University 

出 版 物：《Tsinghua Science and Technology》 (清华大学学报（自然科学版（英文版）)

年 卷 期：2003年第8卷第1期

页      面：105-112页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Supported by the National "973" Program of China( No.G19980 30 6 0 7 

主　　题：parallel manipulator parallel kinematic machine degree of freedom robot 

摘      要：Parallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas, the poor mobility, and design difficulties of more complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom (DoFs). Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper, which can be used in parallel kinematics machines, motion simulators, and industrial robots.