用于并行结构机器人关节的开发方法

 与目前几乎仅绝对使用的串行结构相比，并行运动结构的机器人在各个领域的应用具有广阔前景。并行结构机器人的主要优点是有较高的结构刚度并可以实现较大的加速度。在并行结构机器人中，除了主动的关节(即驱动装置)之外，还需要被动的关节。这些被动的关节在大多数情况下都具有更多滑移自由度和转动自由度。对这些关节的要求主要是：移动性大、刚度高、质量轻以及结构空间紧凑。市场上现有的关节大都不能很好地满足这些要求。

Development method for joints of parallel kinematic robot

Comparing with the currently almost exclusively used serial structures, Parallel kinematic robots are a promising alternative in all application fields. The principal advantages of parallel kinematic robot are its high structure stiffness and its ability to reach large acceleration. In parallel kinematic robot, besides active joints-driving mechanism, passive joints is indispensable. These passive joints have more translational and rotational degree of freedom in most cases. The major requirements of these joints are big mobility, high stiffness, small mass and compact structure space. The currently available joints cannot meet these requirements.