少自由度并联机构研究综述  

Reviewed of Less Dof Parallel Organization Studies

作　　者：石晓宇[1] 

机构地区：[1]中北大学机电工程学院,太原030051

出　　处：《煤矿机械》2011年第10期13-14,共2页Coal Mine Machinery

摘　　要：少自由度并联机构相对于6自由度并联机构来说,有着更实用的优点,成为专家学者研究的热点问题。总结了以往对少自由度并联机构的研究成果,对部分问题的研究方法进行分析和比较,并对并联机构的研究发展方向进行了展望。Compared with general 6-dof parallel mechanism,less dof parallel mechanism has more practical advantages,and become the hotspot problem that experts and scholars study.Summarizes former to less freedom parallel mechanism of research results,the methods to some problems of research are analyzed and compared.And the developing direction of research on parallel mechanism was discussed.

关 键 词：少自由度并联机构 运动学分析 工作空间 奇异位形 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]