并联机构特性分析与综合研究
|
摘要
并联机构的静刚度大、动力响应迅速等优点,使其在金属切削机床、工业自动化、医疗设备等领域具有广泛的应用前景;然而,并联机构在运动学、动力学等方面上的复杂特性使它在实际应用遇到许多困难。因此,改善并联机构的运动学、动力学等性能,使设计的并联机构能够很好满足工程实际的需要,成为并联机构应用研究中亟待解决的问题之一。
本文对并联机构瞬时运动、奇异位形、运动解耦、全局各向同性等问题进行了研究,主要研究内容包括:
(1)在回顾并联机构研究现状基础上,对现有并联机构特性分析及综合研究进行了总结,分析并联机构研究中取得的成果和存在的不足,论述了本文研究并联机构瞬时运动、奇异位形等问题的意义和具体内容。
(2)针对并联机构的多支链闭环的结构特点,提出一种基于螺旋理论的空间机构学的分析方法,将并联机构分为运动支链与动平台两个组成部分,根据运动支链末端对动平台的作用力,分析并联机构瞬时运动、奇异位形等问题。
(3)利用约束螺旋与运动螺旋的几何规律,提出了并联机构瞬时运动分析的几何方法(IMGA),并得到主动避免瞬时运动的并联机构设计准则,建立了通过拓扑优化手段综合避免瞬时运动并联机构的方法。基于以上方法,综合得到一些结构新颖的、避免瞬时运动的两转动一移动并联机构。
(4)利用螺旋线性相关的几何特征,提出主动避免并联机构奇异位形并联机构设计准则,建立了通过拓扑优化手段综合避免奇异位形并联机构的方法。基于以上方法,综合得到结构新颖的、避免奇异的三转动3-RRR并联机构和两转动一移动2RPS-PS并联机构。
(5)利用运动支链末端作用力理论,推导出解耦并联机构的设计准则,建立了通过拓扑优化手段综合解耦并联机构的方法。基于以上方法,综合得到了解耦的一转动两移动并联机构,三移动并联机构。其中解耦的一转动两移动并联机构是新颖机构。
(6)鉴于一般并联机构静刚度存在上下限,证明了全局各向同性并联机构工作空间内静刚度全局相同,进一步得到全局各向同性并联机构的设计准则,建立了通过拓扑优化手段综合全局各向同性并联机构的方法。基于以上方法,综合得到了全局各向同性的两移动并联机构和三转动并联机构。
The parallel mechanism which is famous of the advantages of high stiffness,the heavy loader,quick response has wide potential application in metal-cutting machine tools,industry automation and medical instrument fields.However,the complex kinematics and dynamics of parallel mechanism make it very hard to use parallel mechanism in practical application.Thus,the most urgent problem of parallel mechanism research is to optimize the kinematics and dynamics performance of parallel mechanism to satisfy the practical need.
The thesis focused on instantaneous motion,singularity,decoupled mechanism and full-isotropic mechanism.The main work of the thesis includes:
(1) The research of parallel mechanism is reviewed.The performance analysis and type synthesis of parallel mechanism is summarized,and the problem existed is also presented.The significances of research on instantaneous motion,singularity and coupled motion problems are proposed.
(2) A novel approach of spatial mechanism based on screw theory is proposed, according to the multiple closed-loop structure characteristics of parallel mechanism. The parallel mechanism can be divided into two parts:kinematic chains and moving-platform,and the internal forces between kinematic chains and moving-platform,which can be calculated by screw theory according to the structure of parallel mechanism,are used to analyze instantaneous motion,singularity and coupled motion problems.
(3) Based on the geometric features between constraint wrench and motion twist, the design principle of instantaneous motion-free parallel mechanism is proposed. Based on the principle,a number of novel two rotational and one translational Dofs parallel mechanisms are found.
(4) Based on the geometric features of linear-related screws,the design principle of singularity-free parallel mechanism is proposed.Based on the principle,a novel three rotational Dofs 3-RRR parallel mechanism and a two rotational and one translational Dofs 2RPS - PS parallel mechanism are presented.
(5) Based on the constraint force of kinematic chains,which can be calculated from the structure of the given parallel mechanism,the design principle of decoupled parallel mechanism is proposed.Based on the principle,a number of novel decupled one rotational and two translational Dofs parallel mechanisms are found.
(6) The parallel mechanisms with homogeneous stiffness are found,and these special parallel mechanisms are proved to be full-isotropic parallel mechanisms, according to the stiffness matrix of parallel mechanism.The type synthesis method of full-isotropic parallel mechanism is obtained,and some two translational Dofs parallel mechanisms and three rotational Dofs mechanisms are synthesized.
本文对并联机构瞬时运动、奇异位形、运动解耦、全局各向同性等问题进行了研究,主要研究内容包括:
(1)在回顾并联机构研究现状基础上,对现有并联机构特性分析及综合研究进行了总结,分析并联机构研究中取得的成果和存在的不足,论述了本文研究并联机构瞬时运动、奇异位形等问题的意义和具体内容。
(2)针对并联机构的多支链闭环的结构特点,提出一种基于螺旋理论的空间机构学的分析方法,将并联机构分为运动支链与动平台两个组成部分,根据运动支链末端对动平台的作用力,分析并联机构瞬时运动、奇异位形等问题。
(3)利用约束螺旋与运动螺旋的几何规律,提出了并联机构瞬时运动分析的几何方法(IMGA),并得到主动避免瞬时运动的并联机构设计准则,建立了通过拓扑优化手段综合避免瞬时运动并联机构的方法。基于以上方法,综合得到一些结构新颖的、避免瞬时运动的两转动一移动并联机构。
(4)利用螺旋线性相关的几何特征,提出主动避免并联机构奇异位形并联机构设计准则,建立了通过拓扑优化手段综合避免奇异位形并联机构的方法。基于以上方法,综合得到结构新颖的、避免奇异的三转动3-RRR并联机构和两转动一移动2RPS-PS并联机构。
(5)利用运动支链末端作用力理论,推导出解耦并联机构的设计准则,建立了通过拓扑优化手段综合解耦并联机构的方法。基于以上方法,综合得到了解耦的一转动两移动并联机构,三移动并联机构。其中解耦的一转动两移动并联机构是新颖机构。
(6)鉴于一般并联机构静刚度存在上下限,证明了全局各向同性并联机构工作空间内静刚度全局相同,进一步得到全局各向同性并联机构的设计准则,建立了通过拓扑优化手段综合全局各向同性并联机构的方法。基于以上方法,综合得到了全局各向同性的两移动并联机构和三转动并联机构。
The parallel mechanism which is famous of the advantages of high stiffness,the heavy loader,quick response has wide potential application in metal-cutting machine tools,industry automation and medical instrument fields.However,the complex kinematics and dynamics of parallel mechanism make it very hard to use parallel mechanism in practical application.Thus,the most urgent problem of parallel mechanism research is to optimize the kinematics and dynamics performance of parallel mechanism to satisfy the practical need.
The thesis focused on instantaneous motion,singularity,decoupled mechanism and full-isotropic mechanism.The main work of the thesis includes:
(1) The research of parallel mechanism is reviewed.The performance analysis and type synthesis of parallel mechanism is summarized,and the problem existed is also presented.The significances of research on instantaneous motion,singularity and coupled motion problems are proposed.
(2) A novel approach of spatial mechanism based on screw theory is proposed, according to the multiple closed-loop structure characteristics of parallel mechanism. The parallel mechanism can be divided into two parts:kinematic chains and moving-platform,and the internal forces between kinematic chains and moving-platform,which can be calculated by screw theory according to the structure of parallel mechanism,are used to analyze instantaneous motion,singularity and coupled motion problems.
(3) Based on the geometric features between constraint wrench and motion twist, the design principle of instantaneous motion-free parallel mechanism is proposed. Based on the principle,a number of novel two rotational and one translational Dofs parallel mechanisms are found.
(4) Based on the geometric features of linear-related screws,the design principle of singularity-free parallel mechanism is proposed.Based on the principle,a novel three rotational Dofs 3-RRR parallel mechanism and a two rotational and one translational Dofs 2RPS - PS parallel mechanism are presented.
(5) Based on the constraint force of kinematic chains,which can be calculated from the structure of the given parallel mechanism,the design principle of decoupled parallel mechanism is proposed.Based on the principle,a number of novel decupled one rotational and two translational Dofs parallel mechanisms are found.
(6) The parallel mechanisms with homogeneous stiffness are found,and these special parallel mechanisms are proved to be full-isotropic parallel mechanisms, according to the stiffness matrix of parallel mechanism.The type synthesis method of full-isotropic parallel mechanism is obtained,and some two translational Dofs parallel mechanisms and three rotational Dofs mechanisms are synthesized.
引文
[1]V.E.Gough,Contributions to Discussion of Papers on Research in Automobile Stability,Control and Tire Performance,Proc.Auto Div.Institute Mechanical Engineers,1956.
[2]D.Stewart,A Platform with Six Degrees of Freedom,Proc.Institution of Mech.Engineers,1965,371-386.
[3]I.Bonev.,Delta Parallel Robot-the Story of Success,http://www.parallemic.org/ Reviews/Review002.html
[4]Bennett Brumson,Parallel Kinematic Robots,http://legacy.roboticsonline.com/public/articles.
[5]....U.Heisel.,2003
[6]J.P.Merlet,Still a Long Way to Go on the Road for Parallel Mechanisms.ASME Design Engineering Technical Conferences. Keynote speech, Montreal, 2002,httpa://www-sop.inria.fr/coprin/equipe/merlet/ASME/asme2002.html
[7]J.M.Herve,Analyse Structurelle Des Mecanismes Par Grroupe Des Deplacements.Mechanism and Machine Theory,1978,13:437-450
[8]J.M.Herve,F.Sparacino.Structural Synthesis of Parallel Robots Generating Spatial Translation.5~(th)IEEE Int.Conference on Advanced Robotics,1991,Pisa:808-813
[9]M.Karouia,J.M.Herve.A Three-DoF Tripod for Generating Spherical Rotation.J.Lenarcic and M.M.Stanisic,Advances in Robot Kinematics,Kluwer Academic Publishers,2000:395-402
[10]M.Karouia,J.M.Herve.A Family of Novel Orientational 3-dof Parallel Robots.Ro.Man.Sy 2002,14~(th)CISM-IFToMM Symposium,Udine,Italy,2002:359-368
[11]Jing Shan Zhao,Kai Zhou and etc,A New Method to Study the Degree of Freedom of Spatial Parallel Mechanisms,The International Journal of Advanced Manufacturing Technology,2004,Vol.23,No.3-4,288-294.
[12]Jing-Shan Zhao,Kai Zhou and Zhi-Jing Feng,A Theory of Degrees of Freedom For Mechanisms,Mechanism and Machine Theory,2004,Vol.39,No.6,621-643
[13]Z.Huang,J.Wang,Y.F Fang,Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators,Mechanism and Machine Theory 2002,37:229-240.
[14]Li,S.H.,Huang,Z.Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator,29th Mechanisms and Robotics Conference Long Beach,CA,ASME Design Engn Div;ASME Comp & Informat Engn Div,SEP 24-28,2005,691-697
[15]Lee H.Y.,Liang C.G.Displacement analysis of the General Spatial 7-Link 7R mechanism.Mechanism and Machine Theory 1988,23:219-226
[16]Zhang C D,Song S M.Forward position Analysis of Nearly General Stewart Platforms.ASME Conf.on Rob.Spatial Mechanisms and Mechanical 117.Systems,1992,Dec.Vol.45:81-84
[17]Huang Zhen.Modeling Formulation of 6-DOF multi-loop Parallel Manipulators.Part-2:Dynamic modeling and example,Proc.Of the 4~(th) IFToMM International Symposium on Linkage and Computer Aided Design Methods,1985,Bucharest,Romania,Vol.Ⅱ-1,163-170
[18]C.B.Garcia,W.I.Zhangwill.Global Contimuation methods for finding all solutions to polynomial systems of equations in n variables.Center for maths Studies in business and economics report No.7755,Univ.of Chicago,1977
[19]Fichter E.F.,A Stewart platform-Based Manipulator:General Theory and Practical Construction,The International Journal of Robotics Research,1986,Vol.5,No.2,157-182.
[20]曲义远,黄真.空间六自由度并联机构位置的三维搜索方法.机器人,第3卷第5期,25-29
[21]Yuefa Fang,Lung-Wen Tsai,Structure Synthesis of a Class of 4-Degree of freedom and 5-Degree of freedom Parallel Manipulators with Identical Limb Structures,The International Journal of Robotics Research,2002,Vol.21,No.9,799-810
[22]Gosselin C M.Determination of the Workspace of 6-DOF Parallel Manipulators.J.of Mech.Des.,1990,112:331-336.
[23]J-P.Merlet,Designing a parallel manipulator for a specific workspace
[24]黄田,汪劲松,Whitehouse D J,Stewart并联机器人控制空间解析,中国科学(E辑),1998,28(2):136-145。
[25]Ilian A.Bonev,Clement M.Gosselin,Geometric Algorithms for the Computation of the Constant-orientation Workspace and Singularity Surfaces of a special 6-RUS Parallel Manipulator,Proceedings of DETC'02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference,Montreal,Canada,pp:1-10.
[26]Marc Arsenault,Roger Boudreau,Synthesis of planar parallel mechanisms while considering workspace,dexterity,stiffness and singularity avoidance,Journal of Mechanical Design,January 2006,vol.128:69-78.
[27]Gosselin C.Stiffness mapping for parallel manipulators.IEEE Transactions on Robotics and Automation,1990,6(3):337-382.
[28]EI-Khasawneh B S,Ferreira P M.Computation of stiffness and stiffness bounds for parallel link manipulators.International Journal of Machine Tools & Manufacture,1999,39:321-342.
[29]蔡光起,原所先,胡明,王启明,二自由度虚拟轴机床静力学及动力学的若干研究,中国机械土程,1999,10(10):1108-1111.
[30]C M Clinton,G M Zhang.Stiffness modeling of a Stewart-platform-based milling machine.Transaction ofNAMRI/SME,1997,115:335-340.
[31]Xin-Jun Liu,Zhen-Lin Jin,Feng Gao,Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices,Mechanism and Machine Theory,2000,35:1257-1267
[32]Lebert G,Liu K,Lewis F L.Dynamic analysis and control of a Stewart platform manipulator.J.of Robotic Systems,1993,10(5):629-655.
[33]Pang H,Shahinpoor M.Inverse dynamics of a parallel manipulator.J.of Robotic Systems,1994,11(8):693-702.
[34]Miller K,Clavel R.The Lagrange-based rnorlel of DELAT-4 robot dynamics.Roboter systems,1992,8(1):49-54.
[35]Dasgupta B,Mruthyunjaya T S.Closed-form dynamic equation of the general Stewart platform through the Newton-Euler approach.Mechanism and Machine Theory,1998,33(7):993-1012.
[36]Dasgupta B,Choudhury P.A general strategy based on the Newton-Euler approach for dynamic formulation of parallel manipulators.Mechanism and Machine Theory,1999,34(6):801-824.
[37]Dasgupta B,Mruthyunjaya T S.A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator,Mechanism and Machine Theory,1998,33(8):1135-1152.
[38]Sugimoto K.Kinematic and dynamic analysis of parallel manipulators by means of motor algebra.ASME J.of Mech.Traps.Auto.Des.,1987,109(1):3-7.
[39]Huang Z,Wang H B.Dynamic force analysis of N DOE multiloop complex spatial mechanisms.Mechanism and Machine Theory,1992,27(1):97-105.
[40]Zhang C D,Song S M.An efficient method for inverse dynamics of manipulators based on the virtual work principle.J.of Robotic Systems,1993,10(5):605-627.
[41]Angeles J,Lee S.The formulation of dynamical equation of holonomic mechanical systems using a natural orthogonal complement.ASME J.Applied Mechanics,1988,55(2):243-244.
[42]Zanganeh K E,Sinatra R,Angeles J.Kinematics and dynamics of a six- degree-of-freedom parallel manipulator with revolute legs.Robotica,1997,15(4):385-394.
[43]Melert J.P.,An initiative for the kinematics study of parallel manipulators.Proc.of the Workship on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators,2002,Quebec,2-9.
[44]李秦川,对称少自由度并联机器人型综合理论及新机型的综合,博士学位论文,燕山大学,2003.
[45]杨廷力,机器人机构拓扑机构学,北京,机械工业出版社,2003
[46]郭盛,方跃法,避免设计位形下发生平台奇异的三自由度转动并联机器人设计方法,中国机械工程,2005,16卷,1期.
[47]Marco Carricato,Vincenzo Parenti-Castelli,Singularity-free fully-isotropic translational parallel mechanisms,the international Journal of Robotics Research,2002,Vol.21,No.2,February,161-174。
[48]王宪平,戴一帆,李圣怡,一般机构的解耦运动,国防科学技术大学学报,2002,24(2):85-90.
[49]杭鲁滨,王彦,杨廷力,并联机器人机构解耦准则研究.,2002中国机械工程学会年会论文集(光盘版),北京,机械工业出版社,2002.
[50]张建军,高峰,金振林等,结构解耦6-PSS并联微操作平台的研究与开发,中国机械工程,2004,15(1):1-4.
[51]Baron L,Angeles J,The Kinematic Decoupling of Parallel Manipulators Using Joint-sensor Data,IEEE Transactions on Robotics and Automation,2000,16(6):644-651.
[52]Guo Qingding,Liu Yang,Liu Ying,Local Structurization Kinematic Decoupling of Six-leg Birtual-axis NC Machine Tool,IEEE/ASME Transactions on Mechatronics,2002,7(4):515-518,
[53]Hayward V,Nemri C,Chen Xianze,et al,Kinematic Decoupling in Mechanisms and Application to a Passive Hand Controller Design,Journal of Robotic Systems,1993,10(5):767-790.
[54]Kong Xianwen,Gosselin C M,Type Synthesis of Input-output Decoupled Parallel Manipulators,Transactions of the Canadian Society for Mechanical Engineering,2004,28(2A):185-196.
[55]Irene Fassi,Giovanni Legnani,Geometrical conditions for the design of partial or full isotropic hexapods,Journal of Robotic Systems,2005,22(10),507-518.
[56]Marco Carricato,Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion,The International Journal of Robotics Research,2005,Vol.24,No.5,May 397-414.
[57]Grigore Gogu,Fully-Isotropic Over-Constrained Planar Parallel Manipulators,Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,2004,Sandai,Japan.
[58]黄田,汪劲松,Stewart并联机器人局部灵活度与各向同性条件解析,机械工程学报,1999,Vol.35,No.5.
[59]金振林,高峰,新型并联机床的力/运动传递各向同性性能及其分布,机床与液压,2001,4.
[60]黄真,孔令富,方跃法,并联机器人机构学理论及控制,北京,机械工业出版社,1997.
[61]李秦川 工学博士学位论文 对称少自由度并联机器人型综合理论及新机型综合,燕山大学,2003,7.
[62]R.S.Ball,The Theory of Screws,Cambridge University Press,England,1900.
[63]K.H.Hunt,Kinematic Geometry of Mechanisms,Oxford University Press,1978.
[64]J.R.Phillips,Freedom in Machinery,Cambridge University Press,Cambridge,1990.
[65]Tsai,M.J.,Lee,H W,On the Spatial Bases of Two-and Three-screw Systems.ASME J.of Mechanical Design,1993,115:540-546.
[66]W.X.Zhang,Z.C.Xu,Algebraic construction of the three-system of screws,Mechanism and Machine Theory 1998,33:925-930.
[67]Fang Y F,Huang Z,Analytical Identification of the Principal Screws of the third order Screw System,Mechanism and Machine Theory,1998,33(7):987-992.
[68]Huang Z,Wang J,Identification of principal screws of 3-DOF parallel manipultors by quadric degeneration,Mechanism and Machine Theory,2001,Vol.36(8):893-911.
[69]Z.Huang,J.Wang,Y.F Fang,Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators,Mechanism and Machine Theory 2002,37:229-240.
[70]Sandipan Bandyopadhyay,Ashitava Ghosal,Analytical determination of principal twists in serial,parallel and hybrid manipulators using dual vectors and matrices,Mechanism and Machine Theory 2004,39:1289-1305.
[71]Z.Huang,W.S.Tao,Y F.Fang,Study on the kinematic characteristics of 3 DOF in-parallel actuated actuated platform mechanisms,Mech.Mach.Theory,1996,Vol.31,No.8:999-1007.
[72]Z.Huang,Y F.Fang,Kinematic characteristics analysis of 3-DOF in-parallel actuated pyramid mechanisms,Mechanism and Machine Theory,1996,Vol.31,No.8,:1009-1018.
[73]Li,S.H.,Huang,Z,Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator,29th Mechanisms and Robotics Conference,Long Beach,2005,ASME Design Engn Div;ASME Comp & Informat Engn Div,691-697.
[74]T.S.Zhao Y.Z.Zhao Z.Huang,X.Y.Qi,A Novel Approach to Kinematic Characteristics Analysis of Parallel Manipulators with Fewer Six DOF,2006,IEEE RAM.
[75]Z.Huang,Q.C.Li,,Type Synthesis of Symmetrical Lower-mobility Parallel Mechanisms Using the Constraint synthesis Method,The International Journal of Robotics Research,January 2003,Vol.22,No.1,59-79.
[76]Xianwen Kong,Clement M.Gosselin,Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory,Journal of Mechanical Design,2004,Vol.126:101-108
[77]Xianwen Kong,Clement M.Gosselin,Type Synthesis of 5-DOF Parallel Manipulators Based on Screw Theory,Journal of Robotic Systems 2005,22(10):535-547.
[78]J.M.Herve,The Lie group of rigid body displacements,a fundamental tool for mechanism design,Mechanism and Machine Theory,1999,34:719-730
[79]Qinchuan Li,Zhen Huang,and Jacques Marie Herve,Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,IEEE transactions on robotions on robotics and automation,2004,Vol.20,No.2,173-180.
[80]Qiong Jin,Ting-Li Yang,Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators,Journal of Mechanical Design,2004,Vol.126,625-639.
[81]Huiping Shen,Tingli Yang,Lv-zhong Ma,Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms,Mechanism and Machine Theory 2005,40:1164-1180.
[82]I.Bonev,D.Zlatanov.The Mystery of the Singular SNU Translational Parallel Robot.ParalleMIC Review,2001,httpa/www.parallemic.org/Reviews/Theory.html,Machine Theory,2002,37(2):229-240.
[83]Qinchuan Li,Zhen Huang,Jacques Marie Herve,Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,IEEE Transcations on robotics and automation,2004,Vol.20,No.2,173-180.
[84]R.J.Schilling,Fundamentals of Robotics.Analysis and Control,Prentice-Hall,Englewoods,NJ,1990.
[85]J.Yan,Z.Huang,Kinematical analysis of multi-loop spatial mechanism,Proc.of the 4th IFToMM International Symposium on Linkage and Computer Aided Design Methods,Bucharest,Romania,1985,11(2):439-446.
[86]S.J.Zhu,and Z.Huang,Forward/reverse velocity and acceleration analyses for a class of lower-mobility parallel mechanisms,Proc.2005 ASME Design Engineering Technical Conferences and Computer and Information in Engineering Conference,Long Beach,USA,Paper No.MECH-84081,2005.
[87]Sameer A.Joshi,Lung-Wen Tsai.Jacobian analysis of limited-DOF parallel manipulators,Transactions of the ASME,2002,Vol.124.
[88]F C Park,Jin Wook Kim,Manipulability and singularity analysis of multiple Robot systems:a geometric approach,ICRA,1998:1032-1036.
[89]Merlet J P.Singular configurations of parallel manipulators and Grassmann geometry,Int.J.Robotics Research,1989,8(5):45-56.
[90]张彦斐,宫金良,高峰,冗余驱动消除并联机构位形奇异原理,中国机械工程,2005,Vol.17,No.5:445-449.
[91]Mazen Zein,Philippe Wenger,Damien Chablat,Non-singular assembly-mode changing motions for 3-RPR parallel manipulators,Mechanism and Machine Theory 2008,43:480-490.
[92]Haidong Li,Clement M.Gosselin,Marc J.Richard,Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms,Mechanism and Machine Theory,2006,41,1157-1167.
[93]Davide Paganelli,Avoiding Parallel Singularities of 3UPS and 3UPU Spherical Wrists,IEEE International Conference on Robotics and Automation Roma,Italy,April,2007,1201-1207.
[94]J.P.Merlet,Parallel manipulator,part 2:Singular configurations and Grassmann geometry.INRIA Research Report No.791,Sophia-Antipolis,France.,1988.
[95]王立平,汪劲松,李育文,并联机床动态特性研究的理论与实际意义,工具技术,2002,36,11.
[96]Haidong Li,Cle'ment M.Gosselin,Marc J.Richard,Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms,Mechanism and Machine Theory,2006,41,1157-1167.
[97]J.Wang,and O.Masory,On the accuracy of stewart platform-part 1:the effect of manufacturing tolerances,Proc.IEEE International Conference on Robotics and Automation,Atlanta,GA,USA,1993,,May,2-6,114-120.
[98]T.Roppenen,T.Arai,Accuracy analysis of a modified stewart platform manipulator,Proc.IEEE International Conference on Robotics and Automation,Nagoya,Japan,1995,May 21-27,521-525.
[99]H.S.Kim and Y.J.Choi,The kinematic error bound analysis of the stewart platform,Journal of Robotic Systems,2000,Vo.17,No.1,63-73.
[100]刘得军,车仁生,叶东,黄庆成,三自由度并列机构坐标测量机误差模型建模与仿真,中国机械工程,2001,12(7),752-755.
[101]赵新华,解宁,温殿英,并联6自由度平台机构误差识别算法,机械工程学报,2000,Dec.,Vol.36,No.12.
[102]吴江宁,左爱秋,并联六自由度平台机构机械误差分析与检测,中国机械工程,1999,Vol.10,No.6.
[103]乔俊伟,詹永麟,6-SPS并联平台位置姿态误差分析,机械科学与技术,2001,Vol.20,No.1.
[104]邹豪,赵明杨,并联Stewart机构位姿误差分析,东北大学学报:自然科学版,2002,Vol.21,No.3.
[105]Gosselin C.,Stiffness mapping for parallel manipulators,IEEE Transactions on Robotics and Automation,1990,6(3):337-382.
[106]El-Khasawneh B S,Ferreira P M.Computation of stiffness and stiffness bounds for parallel link manipulators.International Journal of Machine Tools & Manufacture,1999,39:321-342.
[107]蔡光起,原所先,胡明,王启明,三自由度虚拟轴机床静力学及动力学的若干研究,中国机械工程,1999,10(10):1108-1111.
[108]Clinton,C.M.,Zhang,G.,Wavering,A.J.,Stiffness Modeling of a Stewart-Platform-Based Milling Machine.http://isd.cme.nist.gov/cgibin/document-search.pl.1997.
[109]Arakelian,V.,Briot,S.,A New Decoupled Parallel Manipulator With Four Degrees of Freedom,in Proceedings of the 20th Canadian Congress of Applied Mechanics,Montreal,Canada,2005,415-416.
[110]Gosselin,C.M.,Kong,X.,Foucault,S.,Bonev,I.,A Fully Decoupled 3-DOF Translational Parallel Mechanism,in Proceedings of the 4~(th) Chemnitz Parallel Kinematics Seminar/2004Parallel Kinematic Machines International Conference,Chemnitz,Germany,2004,595-610.
[111]Kim,H.S.,Tsai,L.W.,Design Optimization of a Cartesian Parallel Manipulator,ASME J.Mech.Des.,2003,125(1):43-51.
[112]Gosselin,C.M.,Kong,X.,Cartesian Parallel Manipulators,U.S.Patent No.6729202,2004.
[113]Gogu G.,Structural synthesis of parallel robotic manipulators with decoupled motions,Internal Report ROBEA-MAX-CNRS,2002.
[114]Fattah A,Hasan Ghasemi AM,Isotropic design of spatial parallel manipulators,Int Journal of Robotics Research,2002,21(9):811-824.
[115]Carricato M,Parenti-Castelli V.,Singularity-free fully-isotropic translational parallel mechanisms.Int.Journal of Robotics Research,2002,21(2):161-174
[116]Gogu G.,Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations.European Journal of Mechanics-A/Solids,2004,23(6):1021-1039
[117]Gogu G.,Fully-isotropic over-constrained planar parallel manipulators.In:Proc IEEE/RSJ Intl Conf Intelligent Robots and Systems,Sendai,2004,3519-3524
[118]Gogu G.,Fully-isotropic T3Rl-type parallel manipulators.In:Lenarcic J and Galletti C(eds)On Advances in Robot Kinematics,Kluwer,Dordrecht,2004,265-272.
[119]Gogu G.,Singularity-free fully-isotropic parallel manipulators with Schonflies motions.In:Proc 12th Int Conf Advanced Robotics,Seattle,2005,194-201.
[120]Gogu G.,Fully-isotropic over-constrained parallel wrists with two degrees of freedom.In:Proc IEEE Int Conf Robotics and Autom,Barcelona,2005,4025-4030.
[121]Gogu G.,Fully-isotropic TlR2-type parallel robots with three degrees of freedom.In:Proc Int Design Engineering Technical Conferences & Computers and Information in Engineering Conference,Long Beach,2005.
[122]Gogu G.,Fully-isotropic parallel robots with four degrees of freedom T2R2-type.In:Proc IEEE/RSJ Int Conf Intelligent Robots and Systems,Edmonton,2005,1190-1195.
[123]Gogu,G.,Fully-isotropic T3R1-Type Parallel Manipulators,On Advances in Robot Kinematics,J.Lenarfiic and C.Galletti,eds.,Kluwer Academic,Dordrecht,2004,265-272.
[124]Gogu,G.,Singularity-Free Fully-isotropic Parallel Manipulators With Schonflies Motions,in Proceedings of the 12th International Conference on Advanced Robotics,Seattle,WA,2005,194-201.
[125]Gogu G.,Fully-isotropic parallel manipulators with Schonflies motions and complex legs with rhombus loops.In:Proc IEEE Int Conf on Robotics and Automation,Orlando,2006,1147-1152.
[126]Gogu G.,Fully-isotropic parallel manipulators with five degrees of freedom.Proc IEEE Int Conf Robotics and Autom,Orlando,2006,1141-1146.
[127]Gogu G.,Fully-isotropic T3R2-type parallel manipulators.In:Proc IEEE Int Conf on Robotics,Automation and Mecatronics,Bangkok,2006,248-253.
[128]Gogu G.,Fully-isotropic hexapods.In:Lenar(?)i(?)J,Roth B(eds)Advances in Robot Kinematics,Springer,Dordrecht,2006,323-330.
[129]Gogu G.,Fully-isotropic three-degrees-of-freedom parallel wrists.In:Proc IEEE Int Conf on Robotics and Autom,Roma,2007,895-900.
[130]Gogu G.,Structural synthesis of fully-isotropic parallel robots with Schonflies motions via theory of linear transformations and evolutionary morphology.European Journal of Mechanics/A-Solids,2007,26(2):242-269.
[131]Gogu G.,Structural synthesis of parallel robots,Part 1:Method-ology,Springer,Dordrecht 2007(in press).
[132]Gogu G.,Structural synthesis of parallel robots,Part 2:Topologies,Springer,Dordrecht,2008(in press).
[2]D.Stewart,A Platform with Six Degrees of Freedom,Proc.Institution of Mech.Engineers,1965,371-386.
[3]I.Bonev.,Delta Parallel Robot-the Story of Success,http://www.parallemic.org/ Reviews/Review002.html
[4]Bennett Brumson,Parallel Kinematic Robots,http://legacy.roboticsonline.com/public/articles.
[5]....U.Heisel.,2003
[6]J.P.Merlet,Still a Long Way to Go on the Road for Parallel Mechanisms.ASME Design Engineering Technical Conferences. Keynote speech, Montreal, 2002,httpa://www-sop.inria.fr/coprin/equipe/merlet/ASME/asme2002.html
[7]J.M.Herve,Analyse Structurelle Des Mecanismes Par Grroupe Des Deplacements.Mechanism and Machine Theory,1978,13:437-450
[8]J.M.Herve,F.Sparacino.Structural Synthesis of Parallel Robots Generating Spatial Translation.5~(th)IEEE Int.Conference on Advanced Robotics,1991,Pisa:808-813
[9]M.Karouia,J.M.Herve.A Three-DoF Tripod for Generating Spherical Rotation.J.Lenarcic and M.M.Stanisic,Advances in Robot Kinematics,Kluwer Academic Publishers,2000:395-402
[10]M.Karouia,J.M.Herve.A Family of Novel Orientational 3-dof Parallel Robots.Ro.Man.Sy 2002,14~(th)CISM-IFToMM Symposium,Udine,Italy,2002:359-368
[11]Jing Shan Zhao,Kai Zhou and etc,A New Method to Study the Degree of Freedom of Spatial Parallel Mechanisms,The International Journal of Advanced Manufacturing Technology,2004,Vol.23,No.3-4,288-294.
[12]Jing-Shan Zhao,Kai Zhou and Zhi-Jing Feng,A Theory of Degrees of Freedom For Mechanisms,Mechanism and Machine Theory,2004,Vol.39,No.6,621-643
[13]Z.Huang,J.Wang,Y.F Fang,Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators,Mechanism and Machine Theory 2002,37:229-240.
[14]Li,S.H.,Huang,Z.Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator,29th Mechanisms and Robotics Conference Long Beach,CA,ASME Design Engn Div;ASME Comp & Informat Engn Div,SEP 24-28,2005,691-697
[15]Lee H.Y.,Liang C.G.Displacement analysis of the General Spatial 7-Link 7R mechanism.Mechanism and Machine Theory 1988,23:219-226
[16]Zhang C D,Song S M.Forward position Analysis of Nearly General Stewart Platforms.ASME Conf.on Rob.Spatial Mechanisms and Mechanical 117.Systems,1992,Dec.Vol.45:81-84
[17]Huang Zhen.Modeling Formulation of 6-DOF multi-loop Parallel Manipulators.Part-2:Dynamic modeling and example,Proc.Of the 4~(th) IFToMM International Symposium on Linkage and Computer Aided Design Methods,1985,Bucharest,Romania,Vol.Ⅱ-1,163-170
[18]C.B.Garcia,W.I.Zhangwill.Global Contimuation methods for finding all solutions to polynomial systems of equations in n variables.Center for maths Studies in business and economics report No.7755,Univ.of Chicago,1977
[19]Fichter E.F.,A Stewart platform-Based Manipulator:General Theory and Practical Construction,The International Journal of Robotics Research,1986,Vol.5,No.2,157-182.
[20]曲义远,黄真.空间六自由度并联机构位置的三维搜索方法.机器人,第3卷第5期,25-29
[21]Yuefa Fang,Lung-Wen Tsai,Structure Synthesis of a Class of 4-Degree of freedom and 5-Degree of freedom Parallel Manipulators with Identical Limb Structures,The International Journal of Robotics Research,2002,Vol.21,No.9,799-810
[22]Gosselin C M.Determination of the Workspace of 6-DOF Parallel Manipulators.J.of Mech.Des.,1990,112:331-336.
[23]J-P.Merlet,Designing a parallel manipulator for a specific workspace
[24]黄田,汪劲松,Whitehouse D J,Stewart并联机器人控制空间解析,中国科学(E辑),1998,28(2):136-145。
[25]Ilian A.Bonev,Clement M.Gosselin,Geometric Algorithms for the Computation of the Constant-orientation Workspace and Singularity Surfaces of a special 6-RUS Parallel Manipulator,Proceedings of DETC'02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference,Montreal,Canada,pp:1-10.
[26]Marc Arsenault,Roger Boudreau,Synthesis of planar parallel mechanisms while considering workspace,dexterity,stiffness and singularity avoidance,Journal of Mechanical Design,January 2006,vol.128:69-78.
[27]Gosselin C.Stiffness mapping for parallel manipulators.IEEE Transactions on Robotics and Automation,1990,6(3):337-382.
[28]EI-Khasawneh B S,Ferreira P M.Computation of stiffness and stiffness bounds for parallel link manipulators.International Journal of Machine Tools & Manufacture,1999,39:321-342.
[29]蔡光起,原所先,胡明,王启明,二自由度虚拟轴机床静力学及动力学的若干研究,中国机械土程,1999,10(10):1108-1111.
[30]C M Clinton,G M Zhang.Stiffness modeling of a Stewart-platform-based milling machine.Transaction ofNAMRI/SME,1997,115:335-340.
[31]Xin-Jun Liu,Zhen-Lin Jin,Feng Gao,Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices,Mechanism and Machine Theory,2000,35:1257-1267
[32]Lebert G,Liu K,Lewis F L.Dynamic analysis and control of a Stewart platform manipulator.J.of Robotic Systems,1993,10(5):629-655.
[33]Pang H,Shahinpoor M.Inverse dynamics of a parallel manipulator.J.of Robotic Systems,1994,11(8):693-702.
[34]Miller K,Clavel R.The Lagrange-based rnorlel of DELAT-4 robot dynamics.Roboter systems,1992,8(1):49-54.
[35]Dasgupta B,Mruthyunjaya T S.Closed-form dynamic equation of the general Stewart platform through the Newton-Euler approach.Mechanism and Machine Theory,1998,33(7):993-1012.
[36]Dasgupta B,Choudhury P.A general strategy based on the Newton-Euler approach for dynamic formulation of parallel manipulators.Mechanism and Machine Theory,1999,34(6):801-824.
[37]Dasgupta B,Mruthyunjaya T S.A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator,Mechanism and Machine Theory,1998,33(8):1135-1152.
[38]Sugimoto K.Kinematic and dynamic analysis of parallel manipulators by means of motor algebra.ASME J.of Mech.Traps.Auto.Des.,1987,109(1):3-7.
[39]Huang Z,Wang H B.Dynamic force analysis of N DOE multiloop complex spatial mechanisms.Mechanism and Machine Theory,1992,27(1):97-105.
[40]Zhang C D,Song S M.An efficient method for inverse dynamics of manipulators based on the virtual work principle.J.of Robotic Systems,1993,10(5):605-627.
[41]Angeles J,Lee S.The formulation of dynamical equation of holonomic mechanical systems using a natural orthogonal complement.ASME J.Applied Mechanics,1988,55(2):243-244.
[42]Zanganeh K E,Sinatra R,Angeles J.Kinematics and dynamics of a six- degree-of-freedom parallel manipulator with revolute legs.Robotica,1997,15(4):385-394.
[43]Melert J.P.,An initiative for the kinematics study of parallel manipulators.Proc.of the Workship on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators,2002,Quebec,2-9.
[44]李秦川,对称少自由度并联机器人型综合理论及新机型的综合,博士学位论文,燕山大学,2003.
[45]杨廷力,机器人机构拓扑机构学,北京,机械工业出版社,2003
[46]郭盛,方跃法,避免设计位形下发生平台奇异的三自由度转动并联机器人设计方法,中国机械工程,2005,16卷,1期.
[47]Marco Carricato,Vincenzo Parenti-Castelli,Singularity-free fully-isotropic translational parallel mechanisms,the international Journal of Robotics Research,2002,Vol.21,No.2,February,161-174。
[48]王宪平,戴一帆,李圣怡,一般机构的解耦运动,国防科学技术大学学报,2002,24(2):85-90.
[49]杭鲁滨,王彦,杨廷力,并联机器人机构解耦准则研究.,2002中国机械工程学会年会论文集(光盘版),北京,机械工业出版社,2002.
[50]张建军,高峰,金振林等,结构解耦6-PSS并联微操作平台的研究与开发,中国机械工程,2004,15(1):1-4.
[51]Baron L,Angeles J,The Kinematic Decoupling of Parallel Manipulators Using Joint-sensor Data,IEEE Transactions on Robotics and Automation,2000,16(6):644-651.
[52]Guo Qingding,Liu Yang,Liu Ying,Local Structurization Kinematic Decoupling of Six-leg Birtual-axis NC Machine Tool,IEEE/ASME Transactions on Mechatronics,2002,7(4):515-518,
[53]Hayward V,Nemri C,Chen Xianze,et al,Kinematic Decoupling in Mechanisms and Application to a Passive Hand Controller Design,Journal of Robotic Systems,1993,10(5):767-790.
[54]Kong Xianwen,Gosselin C M,Type Synthesis of Input-output Decoupled Parallel Manipulators,Transactions of the Canadian Society for Mechanical Engineering,2004,28(2A):185-196.
[55]Irene Fassi,Giovanni Legnani,Geometrical conditions for the design of partial or full isotropic hexapods,Journal of Robotic Systems,2005,22(10),507-518.
[56]Marco Carricato,Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion,The International Journal of Robotics Research,2005,Vol.24,No.5,May 397-414.
[57]Grigore Gogu,Fully-Isotropic Over-Constrained Planar Parallel Manipulators,Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,2004,Sandai,Japan.
[58]黄田,汪劲松,Stewart并联机器人局部灵活度与各向同性条件解析,机械工程学报,1999,Vol.35,No.5.
[59]金振林,高峰,新型并联机床的力/运动传递各向同性性能及其分布,机床与液压,2001,4.
[60]黄真,孔令富,方跃法,并联机器人机构学理论及控制,北京,机械工业出版社,1997.
[61]李秦川 工学博士学位论文 对称少自由度并联机器人型综合理论及新机型综合,燕山大学,2003,7.
[62]R.S.Ball,The Theory of Screws,Cambridge University Press,England,1900.
[63]K.H.Hunt,Kinematic Geometry of Mechanisms,Oxford University Press,1978.
[64]J.R.Phillips,Freedom in Machinery,Cambridge University Press,Cambridge,1990.
[65]Tsai,M.J.,Lee,H W,On the Spatial Bases of Two-and Three-screw Systems.ASME J.of Mechanical Design,1993,115:540-546.
[66]W.X.Zhang,Z.C.Xu,Algebraic construction of the three-system of screws,Mechanism and Machine Theory 1998,33:925-930.
[67]Fang Y F,Huang Z,Analytical Identification of the Principal Screws of the third order Screw System,Mechanism and Machine Theory,1998,33(7):987-992.
[68]Huang Z,Wang J,Identification of principal screws of 3-DOF parallel manipultors by quadric degeneration,Mechanism and Machine Theory,2001,Vol.36(8):893-911.
[69]Z.Huang,J.Wang,Y.F Fang,Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators,Mechanism and Machine Theory 2002,37:229-240.
[70]Sandipan Bandyopadhyay,Ashitava Ghosal,Analytical determination of principal twists in serial,parallel and hybrid manipulators using dual vectors and matrices,Mechanism and Machine Theory 2004,39:1289-1305.
[71]Z.Huang,W.S.Tao,Y F.Fang,Study on the kinematic characteristics of 3 DOF in-parallel actuated actuated platform mechanisms,Mech.Mach.Theory,1996,Vol.31,No.8:999-1007.
[72]Z.Huang,Y F.Fang,Kinematic characteristics analysis of 3-DOF in-parallel actuated pyramid mechanisms,Mechanism and Machine Theory,1996,Vol.31,No.8,:1009-1018.
[73]Li,S.H.,Huang,Z,Instantaneous kinematic characteristics of a special 3-UPU parallel manipulator,29th Mechanisms and Robotics Conference,Long Beach,2005,ASME Design Engn Div;ASME Comp & Informat Engn Div,691-697.
[74]T.S.Zhao Y.Z.Zhao Z.Huang,X.Y.Qi,A Novel Approach to Kinematic Characteristics Analysis of Parallel Manipulators with Fewer Six DOF,2006,IEEE RAM.
[75]Z.Huang,Q.C.Li,,Type Synthesis of Symmetrical Lower-mobility Parallel Mechanisms Using the Constraint synthesis Method,The International Journal of Robotics Research,January 2003,Vol.22,No.1,59-79.
[76]Xianwen Kong,Clement M.Gosselin,Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory,Journal of Mechanical Design,2004,Vol.126:101-108
[77]Xianwen Kong,Clement M.Gosselin,Type Synthesis of 5-DOF Parallel Manipulators Based on Screw Theory,Journal of Robotic Systems 2005,22(10):535-547.
[78]J.M.Herve,The Lie group of rigid body displacements,a fundamental tool for mechanism design,Mechanism and Machine Theory,1999,34:719-730
[79]Qinchuan Li,Zhen Huang,and Jacques Marie Herve,Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,IEEE transactions on robotions on robotics and automation,2004,Vol.20,No.2,173-180.
[80]Qiong Jin,Ting-Li Yang,Theory for Topology Synthesis of Parallel Manipulators and Its Application to Three-Dimension-Translation Parallel Manipulators,Journal of Mechanical Design,2004,Vol.126,625-639.
[81]Huiping Shen,Tingli Yang,Lv-zhong Ma,Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms,Mechanism and Machine Theory 2005,40:1164-1180.
[82]I.Bonev,D.Zlatanov.The Mystery of the Singular SNU Translational Parallel Robot.ParalleMIC Review,2001,httpa/www.parallemic.org/Reviews/Theory.html,Machine Theory,2002,37(2):229-240.
[83]Qinchuan Li,Zhen Huang,Jacques Marie Herve,Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,IEEE Transcations on robotics and automation,2004,Vol.20,No.2,173-180.
[84]R.J.Schilling,Fundamentals of Robotics.Analysis and Control,Prentice-Hall,Englewoods,NJ,1990.
[85]J.Yan,Z.Huang,Kinematical analysis of multi-loop spatial mechanism,Proc.of the 4th IFToMM International Symposium on Linkage and Computer Aided Design Methods,Bucharest,Romania,1985,11(2):439-446.
[86]S.J.Zhu,and Z.Huang,Forward/reverse velocity and acceleration analyses for a class of lower-mobility parallel mechanisms,Proc.2005 ASME Design Engineering Technical Conferences and Computer and Information in Engineering Conference,Long Beach,USA,Paper No.MECH-84081,2005.
[87]Sameer A.Joshi,Lung-Wen Tsai.Jacobian analysis of limited-DOF parallel manipulators,Transactions of the ASME,2002,Vol.124.
[88]F C Park,Jin Wook Kim,Manipulability and singularity analysis of multiple Robot systems:a geometric approach,ICRA,1998:1032-1036.
[89]Merlet J P.Singular configurations of parallel manipulators and Grassmann geometry,Int.J.Robotics Research,1989,8(5):45-56.
[90]张彦斐,宫金良,高峰,冗余驱动消除并联机构位形奇异原理,中国机械工程,2005,Vol.17,No.5:445-449.
[91]Mazen Zein,Philippe Wenger,Damien Chablat,Non-singular assembly-mode changing motions for 3-RPR parallel manipulators,Mechanism and Machine Theory 2008,43:480-490.
[92]Haidong Li,Clement M.Gosselin,Marc J.Richard,Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms,Mechanism and Machine Theory,2006,41,1157-1167.
[93]Davide Paganelli,Avoiding Parallel Singularities of 3UPS and 3UPU Spherical Wrists,IEEE International Conference on Robotics and Automation Roma,Italy,April,2007,1201-1207.
[94]J.P.Merlet,Parallel manipulator,part 2:Singular configurations and Grassmann geometry.INRIA Research Report No.791,Sophia-Antipolis,France.,1988.
[95]王立平,汪劲松,李育文,并联机床动态特性研究的理论与实际意义,工具技术,2002,36,11.
[96]Haidong Li,Cle'ment M.Gosselin,Marc J.Richard,Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms,Mechanism and Machine Theory,2006,41,1157-1167.
[97]J.Wang,and O.Masory,On the accuracy of stewart platform-part 1:the effect of manufacturing tolerances,Proc.IEEE International Conference on Robotics and Automation,Atlanta,GA,USA,1993,,May,2-6,114-120.
[98]T.Roppenen,T.Arai,Accuracy analysis of a modified stewart platform manipulator,Proc.IEEE International Conference on Robotics and Automation,Nagoya,Japan,1995,May 21-27,521-525.
[99]H.S.Kim and Y.J.Choi,The kinematic error bound analysis of the stewart platform,Journal of Robotic Systems,2000,Vo.17,No.1,63-73.
[100]刘得军,车仁生,叶东,黄庆成,三自由度并列机构坐标测量机误差模型建模与仿真,中国机械工程,2001,12(7),752-755.
[101]赵新华,解宁,温殿英,并联6自由度平台机构误差识别算法,机械工程学报,2000,Dec.,Vol.36,No.12.
[102]吴江宁,左爱秋,并联六自由度平台机构机械误差分析与检测,中国机械工程,1999,Vol.10,No.6.
[103]乔俊伟,詹永麟,6-SPS并联平台位置姿态误差分析,机械科学与技术,2001,Vol.20,No.1.
[104]邹豪,赵明杨,并联Stewart机构位姿误差分析,东北大学学报:自然科学版,2002,Vol.21,No.3.
[105]Gosselin C.,Stiffness mapping for parallel manipulators,IEEE Transactions on Robotics and Automation,1990,6(3):337-382.
[106]El-Khasawneh B S,Ferreira P M.Computation of stiffness and stiffness bounds for parallel link manipulators.International Journal of Machine Tools & Manufacture,1999,39:321-342.
[107]蔡光起,原所先,胡明,王启明,三自由度虚拟轴机床静力学及动力学的若干研究,中国机械工程,1999,10(10):1108-1111.
[108]Clinton,C.M.,Zhang,G.,Wavering,A.J.,Stiffness Modeling of a Stewart-Platform-Based Milling Machine.http://isd.cme.nist.gov/cgibin/document-search.pl.1997.
[109]Arakelian,V.,Briot,S.,A New Decoupled Parallel Manipulator With Four Degrees of Freedom,in Proceedings of the 20th Canadian Congress of Applied Mechanics,Montreal,Canada,2005,415-416.
[110]Gosselin,C.M.,Kong,X.,Foucault,S.,Bonev,I.,A Fully Decoupled 3-DOF Translational Parallel Mechanism,in Proceedings of the 4~(th) Chemnitz Parallel Kinematics Seminar/2004Parallel Kinematic Machines International Conference,Chemnitz,Germany,2004,595-610.
[111]Kim,H.S.,Tsai,L.W.,Design Optimization of a Cartesian Parallel Manipulator,ASME J.Mech.Des.,2003,125(1):43-51.
[112]Gosselin,C.M.,Kong,X.,Cartesian Parallel Manipulators,U.S.Patent No.6729202,2004.
[113]Gogu G.,Structural synthesis of parallel robotic manipulators with decoupled motions,Internal Report ROBEA-MAX-CNRS,2002.
[114]Fattah A,Hasan Ghasemi AM,Isotropic design of spatial parallel manipulators,Int Journal of Robotics Research,2002,21(9):811-824.
[115]Carricato M,Parenti-Castelli V.,Singularity-free fully-isotropic translational parallel mechanisms.Int.Journal of Robotics Research,2002,21(2):161-174
[116]Gogu G.,Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations.European Journal of Mechanics-A/Solids,2004,23(6):1021-1039
[117]Gogu G.,Fully-isotropic over-constrained planar parallel manipulators.In:Proc IEEE/RSJ Intl Conf Intelligent Robots and Systems,Sendai,2004,3519-3524
[118]Gogu G.,Fully-isotropic T3Rl-type parallel manipulators.In:Lenarcic J and Galletti C(eds)On Advances in Robot Kinematics,Kluwer,Dordrecht,2004,265-272.
[119]Gogu G.,Singularity-free fully-isotropic parallel manipulators with Schonflies motions.In:Proc 12th Int Conf Advanced Robotics,Seattle,2005,194-201.
[120]Gogu G.,Fully-isotropic over-constrained parallel wrists with two degrees of freedom.In:Proc IEEE Int Conf Robotics and Autom,Barcelona,2005,4025-4030.
[121]Gogu G.,Fully-isotropic TlR2-type parallel robots with three degrees of freedom.In:Proc Int Design Engineering Technical Conferences & Computers and Information in Engineering Conference,Long Beach,2005.
[122]Gogu G.,Fully-isotropic parallel robots with four degrees of freedom T2R2-type.In:Proc IEEE/RSJ Int Conf Intelligent Robots and Systems,Edmonton,2005,1190-1195.
[123]Gogu,G.,Fully-isotropic T3R1-Type Parallel Manipulators,On Advances in Robot Kinematics,J.Lenarfiic and C.Galletti,eds.,Kluwer Academic,Dordrecht,2004,265-272.
[124]Gogu,G.,Singularity-Free Fully-isotropic Parallel Manipulators With Schonflies Motions,in Proceedings of the 12th International Conference on Advanced Robotics,Seattle,WA,2005,194-201.
[125]Gogu G.,Fully-isotropic parallel manipulators with Schonflies motions and complex legs with rhombus loops.In:Proc IEEE Int Conf on Robotics and Automation,Orlando,2006,1147-1152.
[126]Gogu G.,Fully-isotropic parallel manipulators with five degrees of freedom.Proc IEEE Int Conf Robotics and Autom,Orlando,2006,1141-1146.
[127]Gogu G.,Fully-isotropic T3R2-type parallel manipulators.In:Proc IEEE Int Conf on Robotics,Automation and Mecatronics,Bangkok,2006,248-253.
[128]Gogu G.,Fully-isotropic hexapods.In:Lenar(?)i(?)J,Roth B(eds)Advances in Robot Kinematics,Springer,Dordrecht,2006,323-330.
[129]Gogu G.,Fully-isotropic three-degrees-of-freedom parallel wrists.In:Proc IEEE Int Conf on Robotics and Autom,Roma,2007,895-900.
[130]Gogu G.,Structural synthesis of fully-isotropic parallel robots with Schonflies motions via theory of linear transformations and evolutionary morphology.European Journal of Mechanics/A-Solids,2007,26(2):242-269.
[131]Gogu G.,Structural synthesis of parallel robots,Part 1:Method-ology,Springer,Dordrecht 2007(in press).
[132]Gogu G.,Structural synthesis of parallel robots,Part 2:Topologies,Springer,Dordrecht,2008(in press).