毕业论文-TA32镗削动力头设计—打印2.docVIP

中文摘要 并联机器人具有刚度大、承载能力强、位置误差不积累等特点，在应用上与串联机器人呈互补关系，已经成为机器人领域的研究热点，目前它正应用于工业装配机器人、虚拟轴并联机床和多维减振平台等领域。 本课题English Abstract Parallel Robot is characterized by the high rigidity,large load hangling capability,and non-accumulation of Position error.Parallel Robot is the supplement of Series-Robot and has become the focus of research in robotics. In this paper, a novel three degrees of freedom (DoFs) delta parallel robot is proposed. The parallel robot consists of a base plate, a movable platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms. The