Delta系列并联机器人研究进展与现状

Developments of Delta-Like Parallel Manipulators-A Review

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．

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.