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- The study of the singularity is important in the theoretical research of parallel manipulators. 奇异位形的研究是并联机器人理论研究中的一个重要组成部分。
- Kinematics and dynamics of 3-RSR parallel manipulators are investigated in this dissertation. 本课题以3-RSR三自由度并联机器人的运动学和动力学分析为主要研究对象。
- Thirdly, dynamic model of 3-RSR parallel manipulators is developed based on the kinematic analysis. 然后，在运动学分析基础上，完成了系统的动力学建模。
- The paper focuses on the mobility analyses of the recognized difficult modern parallel manipulators and classical "paradoxical mechanisms". 本文集中分析了一些公认的比较难的现代并联机构和古典“反常”机构。
- The advent of this paper is instrumentally and referentially significant for the design of parallel manipulators control system. 这对并联机器人控制系统设计具有积极的指导和借鉴意义。
- Their joint rotation space(JRS) of both side bars and workspace of coupler points are basic issues in designing planar parallel manipulators. 平面五杆机构是平面并联机械手的最基本形式，对其两连架杆转角空间及连杆点工作空间的研究是设计平面并联机械手的基本问题之一。
- Structural synthesis for 4-DOF non-overconstrained parallel manipulators, an open problem in the field of mechanism, is solved. 摘要本文旨在解决非过约束4自由度并联机构综合这一机构学难题。
- Merlet, J.P., Gosselin, C.M., and Mouly, N., “Workspace of Planar Parallel Manipulators,” Mech.Mach.Theory, Vol. 33, No. 1/2, pp. 7-20, 1998. 施敏男,“对称并联式机器人工作空间之分析与研究,”国立台湾科技大学机械工程技术研究所,1998年7月。
- A new method is presented for designing 4-DOF non-overconstrained symmetrical parallel manipulators through an analytical process. 利用解析的手段给出了一套全新的非过约束对称4自由度并联机构设计方法。
- The orientation capability of 6-6 type cable-actuated parallel manipulators in both application and design is discussed. 讨论了6-6型绳牵引并联机器人在实际应用和设计中的方位能力。
- However, it is rather difficult to analyze the kinematics and workspace of parallel manipulators due to its specific closed-loop. 而并联机器人是一种闭环机构，导致了其运动学和工作空间分析较为困难。
- This thesis presents a general method for developing 6-DOF isotropic parallel manipulators with three PPSR or PRPS chains. 中文摘要本论文提出设计三链六自由度等向性并联式机器人之方法。
- Structural synthesis for 4-DOF non-overconstrained parallel manipulators,an open problem in the field of mechanism,is solved. 本文旨在解决非过约束4自由度并联机构综合这一机构学难题。
- Research in the past few years has confirmed the correctness of the CCT in non-redundant serial and parallel manipulators. 提出该式以来，平面三自由度及空间六自由度的串、并联式机械臂都已证实其CCT的正确性。
- Abstract: It`s the first time to utilize wire-driven Parallel Manipulators to achieve the motion control of special flying object of six DOFs. 摘要： 应用绳牵引并联机构实现目标飞行物六自由度特定运动的控制，在国内尚属首次。
- A family of translation 3-DoF parallel manipulators without plateform constraint singularities was obtained by three special orthogonal constrains provided by three limbs. 利用三条支链对平台所提供的特殊正交约束,得到了一种彻底避免运动平台奇异的纯平动三自由度并联机器人。
- One kind of symmetrical parallel manipulators with two rotational and one translational degree of freedom was designed as the key part of rescue robots in coal mines. 并联机构具有模块化程度高、刚度重量比大、响应速度快以及适应性强等优点,本文选用一类两转动一平动并联机构作为矿井救灾机器人机械腿的核心部分。
- This thesis deals with the direct singularity analysis and the optimal design of several types of three degree-of-freedom symmetric planar parallel manipulators (PPM). 摘要:本文针对平面三自由度并联式机构探讨正向奇异构型分析，并对数种类型之PPM进行最佳尺寸合成。
- Gosselin, C.M., and Jean, M., “Determination of the Workspace of Planar Parallel Manipulators with Joint Limits,” Robot and Autonomous Systems, Vol. 17, pp.129-138, May 1996. 吕建彦,”计算六个自由度并联式机器人工作空间体积方法之研究”,”国立台湾科技大学机械工程研究所,2002年7月。
- Wire-driven Parallel Manipulators to achieve the motion control of special flying object of six DOFs was utilized.A control method of dual CPU based on PMAC and industrial PC was proposed. 应用绳牵引并联机构实现目标飞行物六自由度特定运动的控制方式,提出了一种以PMAC运动控制器为控制核心、工业控制机为系统支撑单元的双CPU控制系统。
