This paper analyses the various singular configurations of parallel manipulators using differential geometry.
运用微分几何的方法分析了存在于并联机构中的各种奇异位形。
An analytical method for workspace analysis of parallel manipulators is proposed in this paper.
提出了一种并联机器人工作空间分析的解析方法。
This paper studies the input motion programming method of flexible planar parallel manipulators.
本文研究了弹性并联机器人的输入运动规划方法。
A new method of analyzing and calculating the singular configurations of parallel manipulators is presented.
介绍一种并联机器人奇异位形分析计算的新方法。
The orientation capability of 6-6 type cable-actuated parallel manipulators in both application and design is discussed.
讨论了6-6型绳牵引并联机器人在实际应用和设计中的方位能力。
The results indicates that the actuating forces of parallel manipulators can be significantly reduced by redundant actuation.
结果表明，加入冗余驱动，可明显降低并联操作手的驱动力。
Finally, the input motion programming and dynamic planning of the flexible parallel manipulators were discussed, respectively.
最后，分别进行了柔性并联机器人系统的输入运动规划和动力规划。
However, it is rather difficult to analyze the kinematics and workspace of parallel manipulators due to its specific closed-loop.
而并联机器人是一种闭环机构，导致了其运动学和工作空间分析较为困难。
The results will be useful for motion control of redundant parallel mechanisms and improving gross performance of parallel manipulators.
这些结论为冗余并联机构的运动控制以及靠冗余驱动提高机构性能提供参考。
Type synthesis and analysis of spatial imperfect-DOF parallel manipulators are an advanced topic and quite complicate in the field of robotics.
空间少自由度并联机器人的型综合与运动特性分析一直是机器人领域中的重要课题，且难度很大。
Based on the current research results of humanoid - arm bionics and parallel manipulators, an approach is presented for 7-dof cable-driven humanoid-arm manipulator.
基于最新人臂仿生理论和并联机器人研究的成果，提出一种线驱动7 -DOF冗余手臂的设计方案。
Based on the current research results of humanoid - arm bionics and parallel manipulators, an approach is presented for 7-dof cable-driven humanoid-arm manipulator.
基于最新人臂仿生理论和并联机器人研究的成果，提出一种线驱动7 -DOF冗余手臂的设计方案。
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