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1、附录（一）英文文献Structureandkinematicanalysisofanovel2-DOFtranslationalparallelrobotChenTao1．WuChao2andLiuxiujun2**(1.SchoolofApplicationScienceandTechnology．HarbinUniversityofScienceAndTechnology，Harbinl50080,China；2.DepartmentofPrecisionInstruments．TsinghuaUniversity,Beijing100084,China)Acceptedon
2、February13,2007AbstractThispaperaddressestheanalysisofanovelparallelrobotwith2translationaldegreesoffreedom(DOFs).Therobotcanpositionarigidbodyinaplanewithconstantorientation.Thekinematicstructureoftherobotisfirstdescribedindetail,Somekinematicproblems,suchastheinverseandforwardkinematics,vel
3、ocity,andsingularityarethenanalyzed.Theworkingandassemblymodesarediscussed.Sinceitisthemostimportantindextodesignarobot,theworkspaceoftherobotisstudiedsystematicallyinthispaper.Basedontheanalysisofreachableworkspaceandsingularity,akindofworkspaceconceptcharacterizingtheregionthattheend-effect
4、oroftherobotcanreachinpracticeisdefined.Theresultsofthispaperwillbeveryusefulforthedesignandapplicationoftherobot.Keywords：parallelrobot,degreeoffreedom,kinematicsworkspace.TheconceptualdesignofparallelrobotscanbedatedbacktothetimewhenGoughestablishedthebasicprinciplesofadevicewithaclosed-loo
5、pkinematicstructurethatcangeneratespecifiedpositionandorientationofamovingplatformsoastotesttirewearand.tear.Basedonthisprinciple,Stewartdesignedaplatformusedasanaircraftsimulatorin1965.In1978,Huntmadeasystematicstudyofrobotswithparallelkinematics,inwhichthespatial3-RPS(R-revolutejoint，P-pris
6、maticjoint,andS-sphericaljoint)parallelrobotisatypicalone.Sincethen,parallelrobotshavebeenstudiedextensivelybynumerousresearchers.Theparallelrobotswith6DOFspossessthead-vantagesofhighstiffness,lowinertia,andlargepayloadcapacity.However,theysuffertheproblemsofrelativelysmallusefulworkspaceandd
7、esigndifficulties.Theirdirectkinematicspossessaverydifficultproblem.Thesameproblemofparallelrobotswith2and3DOFscanbedescribedinaclosedform.Asiswellknown,therearethreekindsofsingularitiesinparallelrobots.Generally,notallsingularitiesofa6-DOFpa
