并联机器人研究现状

并联机器人是一类全新的机器人，它具有刚度大、承载能力强、误差小、精度高、自重负荷比小、动力性能好、控制容易等一系列优点，因而扩大了整个机器人的应用领域。本文综述了并联机器人的研究现状：包括并联机器人的特点，运动学建模，动力学建模，应用状况等。

As a completely new - type of robot, the parallel robot features high rigidity, great load - carrying capacity,small error, high precision, small self - weight/load ratio, good dynamic behavior and easy control, thus expanding the field of applecation of robots. The current situation of research on the parallel robot is described in this paper, including the charac teristics of the parallel robot, kinematic modeling, kinetic modeling, application situation, etc.