3自由度并联机器人研究进展分析

Research on the progress of three degree of freedom parallel robot

并联机器人作为一种新型机器人,具有刚度高,误差小,动力性能强等特性。根据大量并联机器人文献,介绍了多种结构形式的3自由度并联机器人,分析其不同结构形式下的工作空间与可操作性研究方法,探讨其典型误差补偿方法,对其今后的相关研究具有借鉴意义。

As a new type of robot,parallel robot has the advantages of high stiffness,small error and strong dynamic performance.Based on a large number of literatures on parallel robots,this paper introduced the 3-DOF parallel robots with various structures,analyzed the research method on workspace and maneuverability under different structural forms,and discussed the typical error compensation methods.It can be used for reference in future related research.