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39.35pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-weight: bold; font-size: 11pt;">并联机器人研究现状</span><span style="line-height: 39.35pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span></p> <p class="NewStyle21" style="margin-left: 0pt; text-indent: 0pt; line-height: 39.35pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;"> </span><!--[endif]--><span class="16" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">1.3.1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机构学</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.05pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">现代机构的创新性决定了机械产品的创新性，机构学的研宄对于提高相关机械产品 的设计和国际竞争力有着非常重要的意义，现代机构设计的新理论和新方法、特殊功能 的机构设计理论以及应用关键技术、微操作和微尺度机械的机构学、机构与机器人动力 学、新型移动与操作机器人、仿人与仿生机器人和微纳机器人在现代机械产品的设计中扮演着越来越重要的角色。因此，加大对以上机构学领域的研宄是机构学的发展趋势</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[24]</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;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">目前，并联机构的研宄方法，主要有基于螺旋理论的给定末端运动约束的型综合法 和李群李代数的型综合法，给定末端运动的型综合法和列举型综合法。基于运动螺旋、 约束螺旋、反螺旋和螺旋系线性相关性等概念，黄真、</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">L</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Tsai</span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">、</span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">（：.^10〇886出1等</span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt; vertical-align: super;">[25]</span><span class="15" style="font-family: 宋体; letter-spacing: -1pt; font-size: 11pt;">提出 </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">了用约束力一反螺旋理论研究并联机构的构型综合方法。将李群理论引入并联机构型综 合，</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">LM</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">H</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: sub;">er</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ve</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[26</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">_ </span><span class="18" 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="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Angeles</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">等</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[27</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">敬早的提出了基于位移子群的代数结构对运动链进行 分类的方法。该方法证明了由六种低副生成的运动都属于位移子群，并给出了六种位移 子群以及子群间交集的运算法则，从而奠定了位移子群综合法的理论基础。所有运动分 支的交集，构成了并联机构动平台的运动是运动综合法的基本思想。杨廷力等</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[28]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">提出了 先构造单开链，以单开链支路为结构综合单元，对构成并联机构的每个单开链所允许的 运动类型求交集，由此决定动平台的自由度及其类型，进而综合所期望的并联机构。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机构性能评价标准具有明确的物理意义，可以用数学方程来描述，并可用数字来表 示大小，如工作空间、奇异位形、解耦性、各向同性、条件数、综合条件数、速度极值、 刚度极值、承载极值以及误差极值等</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[29]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。此外，机器人的机构尺寸参数决定了机器人的 工作性能，机构尺寸参数是机器人设计的重要因素。为了实现机器人机构设计的最优化， 研宄机器人机构的尺寸参数与性能之间的关系具有十分重要的价值。</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle20" 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="NewStyle20" 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 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