【正文】 求。通過對(duì)機(jī)構(gòu)安裝的便捷性、美觀性，成本控制等方面進(jìn)行仔細(xì)的考慮，選擇合適的材料。經(jīng)過這兩個(gè)多月的努力，畢業(yè)設(shè)計(jì)終于可以畫上一個(gè)句號(hào)了，但是現(xiàn)在回想起來做畢業(yè)設(shè)計(jì)的整個(gè)過程，頗有心得，其中有苦也有甜，不過樂趣盡在其中！畢業(yè)設(shè)計(jì)不僅是對(duì)前面所學(xué)知識(shí)的一種檢驗(yàn)，而且也是對(duì)自己能力的一種提高。通過畢業(yè)設(shè)計(jì)，使我對(duì)大學(xué)這幾年所學(xué)的知識(shí)學(xué)會(huì)系統(tǒng)的運(yùn)用，同時(shí)更深刻的掌握了常用機(jī)械零部件、機(jī)械傳動(dòng)和簡(jiǎn)單機(jī)械設(shè)計(jì)過程和進(jìn)行方法，也培養(yǎng)了在正確的設(shè)計(jì)思想和分析問題解決問題的能力，特別是整體設(shè)計(jì)和零部件設(shè)計(jì)的能力及運(yùn)用Pro/E三維造型軟件繪圖，學(xué)到了很多知識(shí)。但是，因?yàn)樗鶎W(xué)習(xí)的知識(shí)有限，許多思考出來的東西，還不能運(yùn)用到實(shí)際的設(shè)計(jì)中去，所以，只能另尋他路，這是我在設(shè)計(jì)中存在的不足，我會(huì)在未來的時(shí)間里進(jìn)行更深入的學(xué)習(xí)，才能使自己設(shè)計(jì)出的東西更加嚴(yán)謹(jǐn)、完美。通過這次畢業(yè)設(shè)計(jì)，我深深地體會(huì)到嚴(yán)謹(jǐn)、認(rèn)真、仔細(xì)、有耐心是一個(gè)機(jī)械工程設(shè)計(jì)人員必須具備的素質(zhì)。也使我明白了，知識(shí)必須通過應(yīng)用才能實(shí)現(xiàn)其價(jià)值！在學(xué)校學(xué)習(xí)的知識(shí)，僅僅學(xué)會(huì)理論上的東西是不夠的，只有能把理論知識(shí)，靈活的運(yùn)用到實(shí)際的生產(chǎn)、設(shè)計(jì)中去，這時(shí)候才是真的學(xué)會(huì)了。盡管本設(shè)計(jì)的研究的已經(jīng)完成，但是，還有部分問題還要通過以后的學(xué)習(xí)、研究，做進(jìn)一步的鉆研完善。，但在其滿足工作需要這一問題上，對(duì)尺度分析方面，因?yàn)橹R(shí)量不足的原因，只能選擇用模擬驅(qū)動(dòng)方式來確定。雖然通過這種方式，完全可以確定滿足條件的尺寸。不過在機(jī)構(gòu)實(shí)際工作中產(chǎn)生的細(xì)節(jié)問題，比如奇異點(diǎn)，兩桿間的夾角等問題上，還無法更加細(xì)致的在理論上得到驗(yàn)證。這個(gè)問題需要在以后的時(shí)間里，學(xué)習(xí)更多知識(shí)來有效解決。，未來還可以把工作面的安裝設(shè)計(jì)的更加方便快捷，使得二自由度并聯(lián)機(jī)器人對(duì)各種不同的工作方式，有更好的兼容性，轉(zhuǎn)換的更加便捷。參考文獻(xiàn)[1] [D].秦皇島:燕山大學(xué)，2006.[2] [P].US Patent ，January 201931.[3] Painting Machine[P].US Pantent ，August 261940.[4] , Stewart Platform ManiPulator [J]:A Review Mech And Mach Theory，2000，(35):1540.[5] Platform with Six Degress of Freedom[J].IME,Proc,1965,(15):371一386[6] Geormetry of Mechanisms [M].Oxford,Claredon Press, 1978: 304~320.[7] [J].科技向?qū)?2011.[8] [D].華中科技大學(xué), 2007.[9] [D].秦皇島:燕山大學(xué)， 2006.[10] 于紅英,唐德威,王建宇. 平面五桿機(jī)構(gòu)運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)特性分析[D].哈爾濱工業(yè)大學(xué),2007.[11] [D].上海交通大學(xué),2001.[12] 張新華，張策，[N].（10）[13] HaihongLi,ZhiyongYang,TianHuang, and Optimization of a 2Dof Parallel Robot with Flexible Links[D]. 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Structure and kinematic analysis of a novel 2DOF translational parallel robot[D].Tsinghua University，2007.[20] [M].機(jī)械工業(yè)出版社,1993.[21] [M].機(jī)械工業(yè)出版社,2011.[22] 楊可楨,程光蘊(yùn),(第5版)[M].高等教育出版社，2006[23] [M].機(jī)械工業(yè)出版社，1995.[24] 丁錦宏,[J].信息技術(shù)，2006,35(4):138152.[25] 宋相坤,杜長(zhǎng)龍,[J].機(jī)械設(shè)計(jì)與制造，2006,(6):148149[26] [M],北京：機(jī)械工業(yè)出版社，[27] [M],北京：機(jī)械工業(yè)出版社，[28] 王慶五，閆石，[M],北京：機(jī)械工業(yè)出版社，2005致 謝經(jīng)過幾個(gè)月的研究和工作，本次畢業(yè)設(shè)計(jì)已經(jīng)接近尾聲，作為一個(gè)本科生的畢業(yè)設(shè)計(jì)，由于經(jīng)驗(yàn)的匱乏，難免有許多考慮不周全的地方，如果沒有導(dǎo)師的督促指導(dǎo)，以及一起工作的同學(xué)們的支持，想要完成這個(gè)設(shè)計(jì)還是有一定的困難的。在這里首先要感謝我的導(dǎo)師………………附錄（一） 英文文獻(xiàn)Structure and kinematic analysis of a novel 2DOF translational parallel robotChen Tao1．Wu Chao2 and Liu xiujun2**( 1. School of Application Science and Technology．Harbin University of ScienceAnd Technology，Harbin l50080,China；2. Department of Precision Instruments．Tsinghua University, Beijing 100084, China)Accepted on February 13, 2007Abstract This paper addresses the analysis of a novel parallel robot with 2 translational degrees of freedom (DOFs). The robot can position a rigid body in a plane with constant orientation. The kinematic structure of the robot is first described in detail, Some kinematic problems, such as the inverse and forward kinematics, velocity, and singularity are then analyzed. The working and assembly modes are discussed. Since it is the most important index to design a robot , the workspace of the robot is studied systematically in this paper. Based on the analysis of reachable workspace and singularity, a kind of workspace concept characterizing the region that the endeffector of the robot can reach in practice is defined. The results of this paper will be very useful for the design and application of the robot.Keywords： parallel robot, degree of freedom, kinematics workspace. The conceptual design of parallel robots can be dated back to the time when Gough established the basic principles of a device with a closedloop kinematic structure that can generate specified position and orientation of a moving platform so as to test tire wear and. tear. Based on this principle, Stewart designed a platform used as an aircraft simulator in 1965. In 1978, Hunt made a systematic study of robots with parallel kinematics, in which the spatial 3RPS (Rrevolute joint，Pprismatic joint, and S spherical joint) parallel robot is a typical one. Since then, parallel robots have been studied extensively by numerous researchers.The parallel robots with 6 DOFs possess the advantages of high stiffness, low inertia, and large payload capacity. However, they suffer the problems of relatively small useful workspace and design difficulties .Their direct kinematics possess a very difficult problem. The same problem of parallel robots with 2 and 3 DOFs can be described in a closed form . As is well known, there are three kinds of singularities in parallel robots. Generally, not all singularities of a 6 DOF parallel robot can be found easily. For a parallel robot with 2 or 3 DOFs, the singularities can always be identified readily. For such reasons, parallel robots with less than 6 DOFs, especially 2 and 3 DOFs, have increasingly attracted more and more researchers attention with respect to industrial applications. In these designs, parallel robots with three translational CKDFs have been playing important roles in the industrial applications. For example, the design of the DELTA robot is covered by a family of 36 patents. Tsai’s robot，in which each of the three legs consists of a parallelogram, is the first de, sign to solve the problem of UU chain. Such parallel robots have wide applications in the industrial world, e. g., pickandplace application, parallel kinematic machines, and medical devices.The most famous planar 2DOF parallel robots are the wellknown fivebar mechanism with prismatic actuators or revolute actuators. In the case of the robot with revolute actuators, the mechanism consists of five re volute pairs and the two joints fixed to the base are actuated, while in the case of the robot with prismatic actuators, the mechanism