并联机器人运动性能的研究现状及发展趋势

随着并联机器人技术的发展,其运动性能的提升成为了发展需求,指出了研究工作空间和奇异位形的必要性。以研究方法为主线,详细阐述了工作空间和奇异位形的国内外研究现状及特点,进一步提炼出个体的创新思想和面临的共同难题。通过深入分析研究方法的原理,找到了解决共同难题的突破口,同时剖析了研究中的尚存难题。结合未来的发展趋势,从结构综合和理论创新两个方面进行突破,能够为并联机器人的发展提供强劲动力。得出的结论和展望给从事这一领域的研究者们提供了参考。

Status and Development Trend of Motion Performance in Parallel Robot

With the development of parallel robot technology, the necessity of studying the workspace and singularity of parallel robot is presented to improve the motion performance. The research status and characteristics of workspace and singularity at home and abroad are described in detail based on different research methods. Furthermore, individual innovative ideas and common problems for different research methods of workspace and singularity are pointed out. Through deeply analyzing the principle of research methods, the breakthrough is found to solve common problems. Meanwhile, the remaining problems in research are analyzed. Combining with the future development trend, breakthroughs in structural synthesis and theoretical innovation can provide strong impetus for the development of parallel robot. The conclusions and prospects provide valuable references for researchers engaged in this field.