文献翻译--一种三自由度并联机械手

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1、A Novel Three Degree of Freedom Parallel Translating Manipulator Abstract: A novel three degree of freedom parallel translating manipulator is presented. The three degree of freedom parallel translating manipulator consists of two six degree of freedom limbs and a compound limb which constrains the

2、moving platform of the output to translation motion. Closed form solutions of the parallel manipulator are developed for both the inverse and forward kinematics. The Jacobian matrix of the parallel translating manipulator is also derived. The parallel manipulator has the identical performance along

3、the direction of the actuated linear slides for their parallel to one another. It can be explained from the elements expression of the Jacobian matrix of the parallel translating manipulator. Finally a three degree of freedom parallel machine tool based on the parallel manipulator is also presented

4、for the application of it. Keywords:Parallel manipulator, Kinematics, Identical performance, Parallel machine tool 1 Introduction Compared with serial devices, the six degree of freedom parallel manipulators have higher stiffness, better dynamic characteristics at the cost of smaller workspace, more difficult mechanical design, more complex direct kinematics. To overcome the above shortcomings, parallel manipulators with few than six degree of freedom have been investigated, especially the sp