Delta系列并联机器人研究进展与现状

doi:10.3724/SP.J.1218.2014.00375

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引用本文:
冯李航, 张为公, 龚宗洋, 林国余, 梁大开. Delta系列并联机器人研究进展与现状[J]. 机器人, 2014, 36(3): 375-384.DOI: 10.3724/SP.J.1218.2014.00375. FENG Lihang, ZHANG Weigong, GONG Zongyang, LIN Guoyu, LIANG Dakai. Developments of Delta-Like Parallel Manipulators-A Review. ROBOT, 2014, 36(3): 375-384. DOI: 10.3724/SP.J.1218.2014.00375.

摘要

Delta 系列机器人具有刚度大、承载能力强、运动耦合弱、动力性能好等一系列优点，成为并联机器人中的热点问题而备受国内外学者的关注．本文根据掌握的大量资料文献，对Delta 系列机器人在运动学、动力学、控制策略、机构性能与尺度综合等方面主要研究成果、进展进行了综述，并对存在的问题和进一步的方法思路进行了总结展望．

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	冯李航
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	梁大开

关键词 ： Delta, 并联机器人, 运动学, 动力学, 尺度综合

Abstract：

Delta-like manipulator (DLM), which has many advantages of high stiffness, heavy load capacity, weak kinematic coupling and good dynamic performance, is a hotspot research of parallel robots with increasing attentions of scholars. Recent developments of DLMs are described with the discussions on kinematics, dynamics, performance and dimension synthesis in this paper, and prospects of future study with open problems are identified as well.

Key words： Delta parallel manipulator kinematics dynamics dimension synthesis

收稿日期: 2013-07-01 录用日期: 2014-04-09

TP242

基金资助:

国家科技支撑计划资助项目（2009BAG13A04）；国家自然科学基金资助项目（51275239）

通讯作者: 张为公，zhangwg@seu.edu.cn E-mail: zhangwg@seu.edu.cn

作者简介: 冯李航（1987- ），男，博士生．研究领域：机器人机构与控制．
张为公（1959- ），男，博士，教授，博士生导师．研究领域：机电一体化技术与机器人．
龚宗洋（1979- ），男，博士，研究员．研究领域：机器人及汽车测控技术．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2014.00375 或 https://robot.sia.cn/CN/Y2014/V36/I3/375

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