并联坐标测量机研究进展

Research progress of parallel coordinate measuring machine

并联机构具有刚度大、承载力强、动力性能好、支链间误差平均效应等优势,在机器人、机床、微动器件等领域得到了广泛应用。然而,传统直角式坐标测量机和关节式坐标测量机采用串联结构,存在误差累积的固有缺陷。鉴于并联机构具有的互补优势,近二十年来并联坐标测量机得到了快速的发展。结合国内外技术现状和团队的研究成果,对并联坐标测量机机构学、运动学、动力学、机构性能和控制策略等方面进行了系统的回顾和分析,总结了目前并联坐标测量机研究中存在的主要问题,提出了进一步的解决方法与思路,并展望了未来的发展趋势。

Parallel mechanisms offer benefits like high stiffness,strong load capacity,excellent dynamic performance,and error averaging between branches,making them popular in robotics and machine tools.In contrast,serial coordinate measuring machines,such as portable versions,suffer from error accumulation.Due to the advantages of parallel mechanisms,parallel coordinate measuring machines have rapidly advanced over the past twenty years.Current research covers their mechanisms,kinematics,dynamics,mechanical performance,and control strategies.Key issues in current research are identified,with proposed solutions and ideas.Future development trends in this field are also discussed.