少自由度并联机器人的研究和应用近年来吸引了各国研究者的广泛注意.本文简要介绍了我们提出的基于螺旋理论的少自由度并联机构的约束综合法,并列举了以约束综合法得到的新型4和5自由度对称并联机构.%The research and use of lower-mobility parallel ma-nipulators with less than six DOF (degrees of freedom) havedrawn rather considerable interest in recent years. In this paper,we briefly introduced the constraint-synthesis method basedon screw theory for type synthesis of lower-mobility parallelmechanisms. The enumerations of novel 4-and 5-DOF sym-metrical parallel mechanisms synthesized by this method arepresented.
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