一种少自由度并联机构的自由度及运动特性分析

Analysis of degree of freedom and motion characteristics for a kind of parallel mechanism with few degree of freedom

提出一种非对称少自由度空间并联机器人机构,用螺旋理论分析了该机构的运动特性和自由度,进一步对自由度的性质进行了讨论,从而为该机构的深入研究奠定了基础。

A kind of parallel robotic mechanism with nonsymmetric few degree of freedom space was put forward. The motion characteristics and degree of freedom of this mechanism was analyzed by the use of spiral theory, and a further discussion was carried out on the properties of degree of freedom, thus laid a foundation for the deep study of this mechanism.