| Parallel Mechanisms with Two or Three Degrees of Freedom |
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| 作者姓名： | 刘辛军 汪劲松 李铁民 段广洪 |
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| 作者单位： | ManufacturingEngineeringInstitute,DepartmentofPrecisionInstrumentsandMechanology,TsinghuaUniversity,Beijing100084,China |
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| 基金项目： | Supported by the National “973” Program of China( No.G19980 30 6 0 7 |
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| 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.
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| 关 键 词： | 平行机理 机床制造工业 自由度 机器人 平行运动机械 |
Parallel Mechanisms with Two or Three Degrees of Freedom |
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| LIU Xinjun,WANG Jinsong,LI Tiemin ,DUAN Guanghong Manufacturing Engineering Institute.Parallel Mechanisms with Two or Three Degrees of Freedom[J].Tsinghua Science and Technology,2003,8(1):105-112. |
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| Authors: | LIU Xinjun WANG Jinsong LI Tiemin DUAN Guanghong Manufacturing Engineering Institute |
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| Institution: | LIU Xinjun,WANG Jinsong,LI Tiemin **,DUAN Guanghong Manufacturing Engineering Institute,Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China |
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| Abstract: | 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. |
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| Keywords: | parallel manipulator parallel kinematic machine degree of freedom robot |
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