新的封闭式并联迷你机器人的直接运动学正解

中文翻译
新的封闭式并联迷你机器人的直接运动学正解(中文2800字,英文呢1600字)
近年来，许多研究人员已经对并联式迷你机器人表现出了极大的兴趣。这种结构在精度、刚度、载荷重量比和载荷分布方面比那些所占空间更大的更适合。
著名的斯图尔特平台（斯图尔特，1965）可能是第一个已经记录在文献中的六自由度（六度）并联机构。它是由六个独立的肢体将一个移动平台和一个地基连接而成。许多研究者认为斯图尔特平台可以当作一个机器人机械臂（例如，菲克特•麦克道威尔，1980年，亨特，1983年，杨振宁与李政道，1984年，菲克特，1986）。其他类型的六自由度并联机构已在文献中被引入和研究（例如，Kohli等人，1988；哈金斯和特萨，1988；蔡和塔玛塞比，1991a）。

外文资料
Closed-Form Direct Kinematics Solution of a New Parallel Minimanipulator
In recent years,many researchers have shown a great deal of interest in studying parallel manipulators.Such mechanisms are most suitable for applications in which the requirements for accuracy,rigidity,load-to-weight ratio,and load distribution are more important thanthe need for a large workspace.
The famous Stewart platform(Stewart,1965) is probably the first six-degree-of-freedom(six-DOF) parallel mechanism which has been studied in the literature.It consists of a moving platform and a base which are connected by means of six independent limbs.Many researchers have considered the Stewart platform as a robot manipulator(e.g.,Fichter and MacDowell,1980;Hunt,1983;Yang and Lee,1984;Fichter,1986).Other types of six-DOF parallel manipulators have been introduced and studied in literature(e.g.,Kohli et al.,1988;Hudgens and Tesar,1988;Tsai and Tahmasebi,1991a).