具有冗余自由度的空间并联多环机构的运动分析

KINEMATIC ANALYSIS ON THE SPATIAL PARALLEL MECHANISMS WITH REDUNDENT DEGREE OF FREEDOM

讨论了具有冗余自由度的并联空间多环机构的运动分析。这是步行机器人研究中遇到的一个十分复杂的机构学问题。以较简单且具典型性的一种机构为例，讨论了这类冗余并联空间机构求解的思路和方法。可以看到由于采用了影响系数原理，分析和推导过程层次清晰、公式简明，导出的结论公式又呈显式，便于计算机编程，应用十分方便。

The kinematic analysis on the spatial parallel mechanisms with redundent degrees of freedom is discussed. These mechanisms are often used in the area of walking machines and robot. A simplest mechanism with redundent degree is taken as an example to show the idea and the way. In the meantime, as using the influence coefficient Principle we make the solving very simple and convenient for programming.