冗余并联机构的分类研究

On Classification of Redundant Parallel Mechanisms

在对并联机构的拓扑结构进行分析的基础上 ,提出了一种新的冗余并联机构的分类方法 ,即把冗余并联机构分为位形空间冗余 ,驱动冗余和末端执行器冗余三种类型。这种新的分类方法可以使我们对并联机构冗余的定义有明确的认识 ,并将有助于对冗余并联机构的研究和应用。

Based on the analysis of topology structure of parallel mechanisms, we present a new classification of redundancy of parallel mechanisms in three groups: configuration space redundancy, actuation redundancy and end effector redundancy. This classification can provide a clear understanding of the definition of redundancy and is also very helpful for the research and application of redundant parallel mechanisms