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研究生课程考核试卷科目：专业英语教师：刘怀举姓名：刘双龙学号： 20140713189专业：机械工程类别：（专业）上课时间： 2014年11月至2014年11月考生成绩：卷面成绩平时成绩课程综合成绩阅卷评语：阅卷教师 (签名)重庆大学研究生院制Parallel Mechanisms with Three Degrees of FreedomABSTRACTParallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas , the poor mobility , and design difficulties of more complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom. Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper , which can be used in parallel kinematics machines , motion simulators, and industrial robots.Key words: parallel manipulator; parallel kinematic machine; degree of freedom; robotBACKGROUNDMechanical systems that allow a rigid body tomove with respect to a fixed base play a veryimportant role in numerous applications. A rigidbody can move in various translational or rotational directions which are called degrees of freedom. The total number of degrees of freedomfor a rigid body cannot exceed six, for example,three-translationmotionsalongmutuallyorthogonal axes and three-rotational motions aboutthese axes. A robot includes a system to controlseveral degrees of freedom of an end-effector.The last few years have witnessed importantdevelopments in the use of industrial robots,mainly due to their flexibility.However,themechanical architecture of the most common robotsis not well adapted to certain tasks. Other types ofarchitectureshave, therefore, recentlybeendeveloped for industrial use, including parallelmanipulators.A parallel manipulator, which is a closed-loopmechanism,typicallyconsistsofamovingplatform that is connected to a fixed base byseveral limbs or legs.Typically, the number oflimbs is equal to the number of degrees of freedomsuch that every limb is controlled by one actuatorand allthe actuators can be mounted at or near thefixed base. For this