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text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-weight: bold; font-size: 11pt;">并联机构的起源及应用</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.5pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机构</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">（</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ParallelMechanism</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">是由两个或两个以上开环运动链连接静平台和动平 台，并且具有两个或两个以上自由度的闭环机构，它是机构学的一个重要分支。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">人类对并联机构的研宄可以追溯到十九世纪初期。1813年，法国学者</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Ca</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: sub;">U</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">chyt</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">16</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">R</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4 </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机构的相关理论进行了初步研宄。1928年，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gwi</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: sub;">nne</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">tt</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[17]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">提出了基于并联机构的娱乐 装置。1934年，美国工程师</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Pollard</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[18]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">提出了一种用于汽车喷漆的并联机构。1947年， 英国人</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gough</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">—</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">发明了六自由度轮胎检测的并联机构（如图1-1)。该并联机构可以模拟 飞机着陆时轮胎的实际工况，1954年，在伯明翰</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Dunlop</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">工厂正式投入使用，直到2000 年才退出了历史舞台，并在当时被送入英国国家科学和工业博物馆。1965年，英国工程师</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Stewart</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">™</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Gough</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所发明的并联机构进行了机构学意义上的研究，并将其应用推广。 首次，提出了六自由度并联机构飞行模拟器，该飞行模拟器是一个三角形的运动平台, 由6个液压缸驱动，可以模拟6自由度的空间运动。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 1pt;"> </span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">二十世纪末，许多学者对并联机构应用的研究产生了极大地兴趣。1978年，澳大利 亚学者</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Himt</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[21]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">教授，首次提出把</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Stewart</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机构（如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">1-2)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">应用于机器人操作器。从此， 形成了一种新的六自由度并联机器人，并于1979年应用于装配机器人，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Stewart</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机构被 成功应用于步行机器人等领域。1988年，法国学者</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">J</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">MERLET</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">将线几何分析法应用于 并联机构研宄，并成功研制出</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">INRIA</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机构原理样机。美国学者</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Fariborz</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Behi</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对新 型的</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">3-</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PRPS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">六自由度并联机构进行了研宄，并得到了其逆向运动学的解析解和正向运 动学的数值解[</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">22]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。瑞士洛桑工学院的</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Clavel</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">第一次提出</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机器人。1994年，美 国</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Ingersoll</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">GIDDING</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">&</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">LEWS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">两家公司在芝加哥机床国际博览会上，展出了“六足虫” </span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">和“变异型”的</span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">“</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">VARIAX</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">虚拟轴机床”。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在国内，1991年，燕山大学的黄真教授成功研制出我国第一台六自由度并联机器人, 次年，研制出</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">6-</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">RST</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">型柔性铰链并联式六自由度机器人误差补偿器。分别于1989年、 1997年和2006年出版了《空间机构学》、《并联机器人机构学理论及控制》和《高等空 间机构学》等具有很高影响力的专业著作。1998年，东北大学成功研制五轴联动三杆并 联机床。2013年，中科院重庆绿色智能技术研究所研制出我国首台</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">3</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">D</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">打印并联机器人。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 1pt;"> </span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机器人的结构复杂是一个多自由度、多变量、多参数耦合的非线性系统</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[23]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。但 是，并联机器人拥有非常广阔的应用场景，己经在数控加工中心（如图1-3)、医疗机器 人（如图1-4)、运动模拟器、对接机构、天文望远镜、力传感器、水下机器人、风洞试 验机器人、绳索机器人、微操作机器人、工业机器人、军用机器人等领域广泛的应用， 并己经渗透到人类生活的方方面面。随着现代科学技术的发展，并联机器人的相关理论 正在不断完善，必将在越来越广阔的领域发挥越来越重要的作用。</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&t=wap&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' 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