[1] 曹毅, 周睿, 秦友蕾, 等. 完全各向同性五自由度混联机构型综合[J]. 机械工程学报, 2018, 54(5):29-37. CAO Yi, ZHOU Rui, QIN Youlei, et al. Structural Synthesis of fully-isotropic five degree-of-freedom hybrid kinematic mechanisms[J]. Journal of Mechanical Engineering, 2018, 54(5):29-37. [2] 邱建超, 牛安琪, 仇伟晗, 等. 3-UPU/PU-RRP海上稳定廊桥运动学建模与仿真[J]. 舰船科学技术, 2023, 45(1):78-82. QIU Jianchao, NIU Anqi, QIU Weihan, et al. Kinematics modeling and simulation of 3-UPU/PU-RRP offshore gangway[J]. Ship Science and Technology, 2023, 45(1):78-82. [3] 王书森, 梅瑛, 李瑞琴. 新型3T2R龙门式混联机床动力学模型[J]. 机械工程学报, 2016, 52(15):81-90. WANG Shusen, MEI Ying, LI Ruiqin. Solving dynamics for a novel 3T2R gantry hybrid machine tool[J]. Journal of Mechanical Engineering, 2016, 52(15):81-90. [4] 张东胜, 许允斗, 姚建涛, 等. 2RPU/UPR+RP五自由度混联机器人静刚度分析[J]. 中国机械工程, 2018, 29(6):712-719. ZHANG Dongsheng, XU Yundou, YAO Jiantao, et al. Static stiffness analysis of 2RPU/UUR+RP 5-DoF hybrid manipulators[J]. China Mechanical Engineering, 2018, 29(6):712-719. [5] 窦永磊, 汪满新, 王攀峰, 等. 一种6自由度混联机器人静刚度分析[J]. 机械工程学报, 2015, 51(7):38-44. DOU Yonglei, WANG Manxin, WANG Panfeng, et al. Stiffness analysis of a 6-DOF hybrid robot[J]. Journal of Mechanical Engineering, 2015, 51(7):38-44 [6] NAYAK A, CARO S, WENGER P. Kinematic analysis of the 3-RPS-3-SPR series-parallel manipulator[J]. Robotica, 2019, 37(7):1240-1266. [7] ZHAO Chong, GUO Hongwei, ZHANG Dan, et al. Stiffness modeling of n(3RRlS) reconfigurable series-parallel manipulators by combining virtual joint method and matrix structural analysis[J]. Mechanism and Machine Theory, 2020, 152:103960. [8] LI Bing, ZHAO Wei, DENG Zongquan. Modeling and analysis of a multi-dimensional vibration isolator based on the parallel mechanism[J]. Journal of Manufacturing Systems, 2012, 31(1):50-58. [9] HU Bo. Formulation of unified Jacobian for serial-parallel manipulators[J]. Robotics and Computer-Integrated Manufacturing, 2014, 30(5):460-467. [10] HU Bo, ZHAO Jinjun, CUI He. Terminal constraint and mobility analysis of serial-parallel manipulators formed by 3-RPS and 3-SPR PMs[J]. Mechanism and Machine Theory, 2019, 134:685-703. [11] NEUMANN K E. Robot:United States Patent, NO. 4732525[P]. 1988-03-22. [12] 洪振宇, 梅江平, 赵学满, 等. 可重构混联机械手——TriVariant的误差建模与灵敏度分析[J]. 机械工程学报, 2006(12):65-69. HONG Zhenyu, MEI Jiangping, ZHAO Xueman, et al. Error modeling and sensitivity analysis of reconfigurable Hybrid robot module Trivariant[J]. Journal of Mechanical Engineering, 2006(12):65-69. [13] BI Z M, WANG Lihui. Energy modeling of machine tools for optimization of machine setups[J]. IEEE Transactions on Automation Science and Engineering, 2012, 9(3):607-613. [14] 黄真, 赵永生, 赵铁石. 高等空间机构学[M]. 第2版. 北京:高等教育出版社, 2014 HUANG Zhen, ZHAO Yongsheng, ZHAO Tieshi. Advanced spatial mechanism[M]. 2nd ed. Beijing:Higher Education Press, 2014 [15] MENG Jian, LIU Guanfeng, LI Zexiang. A geometric theory for analysis and synthesis of sub-6 DoF parallel manipulators[J]. IEEE Transactions on Robotics, 2007, 23(4):625-649. [16] 杨廷力. 机器人机构拓扑结构学[M]. 北京:机械工业出版社, 2004. YANG Tingli. Topology of robotic mechanisms[M]. Beijing:China Machine Press, 2004. [17] GAO Feng, LI Weimin, ZHAO Xianchao, et al. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs[J]. Mechanism and Machine Theory, 2002, 37(11):1395-1411. [18] GALLARDO A G, PUCHETA M A. Synthesis of parallel flexure stages with decoupled actuators using sum, intersection, and difference of screw systems[J]. Mechanism and Machine Theory, 2024, 192:105526. [19] SONG Yaqing, KANG Xi, DAI Jiansheng. Instantaneous mobility analysis using the twist space intersection approach for parallel mechanisms[J]. Mechanism and Machine Theory, 2020, 151:103866. [20] HU Bo, SHI Dongsheng, XIE Tengfei, et al. Kinematically identical manipulators derivation for the 2-RPU + UPR parallel manipulator and their constraint performance comparison[J]. Journal of Mechanisms and Robotics, 2020, 12(6):061011. [21] DAI Jiansheng, HUANG Zhen, LIPKIN H. Mobility of over constrained parallel mechanisms[J]. Journal of Mechanical Design, 2006, 128(1):220-229. [22] 黄真, 刘靖芳, 李艳文. 论机构自由度:寻找了150年的自由度通用公式[M]. 北京:科学出版社, 2011. HUANG Zhen, LIU Jingfang, LI Yanwen. Mobility of mechanisms[M]. Beijing:Science Press, 2011. [23] 复旦大学数学系. 空间解析几何与微分几何[M]. 上海:复旦大学出版社, 2003. Department of Mathematics, Fudan University. Spatial analytic geometry and differential geometry[M]. Shanghai:Fudan University Press, 2003 |