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通过分析少自由度串联机器人机构和并联机器人机构的构型特点,基于运动螺旋线性无关的原理,以单开链少自由度串联机构为单元,提出了一种系统有效的混联机器人构型综合的新方法和单并联、多并联混联机构的概念及表示方法。首先根据螺旋理论构造了单开链3R2T五自由度串联机构,其次将并联机构视为一个复合运动单元构型到串联机构中,替代串联机构中运动基相同且连续的若干运动单元,3R2T五自由度混联机器人构型,最后通过运动螺旋的线性组合来生成其它混联机构。
Based on the analysis of the configuration characteristics of series robot with fewer degrees of freedom and the mechanism of parallel robot, based on the principle of linearity of motion spiral, a series of single-chain and chain-less degrees of freedom mechanism is taken as a unit. The new method and single parallel, multi-parallel hybrid agencies concept and representation. First of all, according to the spiral theory, a single open-chain 3R2T five-degree-of-freedom series mechanism is constructed. Secondly, the parallel mechanism is regarded as a compound motion unit configuration to the serial mechanism. Instead of the same and continuous movement unit in the serial mechanism, Degree hybrid robot configuration, and finally through the linear combination of movement spiral to generate other hybrid mechanism.