应用螺旋理论对并联机器人形位的分析与综合

Displacement Analysis and Synthesis of Parallel Manipulator via Screw Theory

摘要: 采用螺旋理论对并联机器人的约束与运动问题进行了分析和总结．在各种约束存在条件下，分析了刚体平台相应的运动轨迹形式，为今后对多刚体的形位分析提供了可行的理论依据．

Abstract: This paper adopts the screw theory to analyze and synthesize the problem of constraints and motion of parallel manipulator.The movement track of the moving platform is educed under different kinds of constraints.This work provides a feasible theory thereunder in the displacement analysis of parallel manipulator in advance research.