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中文摘要：
由于并联机器人机构的发展,最近十多年,提出了6种新的主要的机构自由度（DOF）公式.在简述这6种公式的结构与特点的基础上给出了这些公式的统一形式及其物理意义,以及DOF公式取得进展的原因;对基于约束螺旋系的统一形式的DOF公式,提出了DOF计算方法的改进建议,并给出两个实例;而基于运动分析的统一形式的DOF公式,只适用于不含非独立运动元素的机构,仅是具有一般性的基于方位特征集的DOF公式的特例.
英文摘要：
Along with the development of robot mechanism research,6 new DOF formulas have been proposed in the last decade.After analyzing their structures and characteristics,a Unified form that is able to cover all these 6 formulas is given and the corresponding physical meaning is discussed in this paper.For the uniform DOF formula based on constraint screw system,suggestions for improving the DOF calculation is proposed and 2 examples are introduced for illustration purpose.On the other hand,the uniform DOF formula based on kinematic analysis is not applicable to mechanism containing non-independent motion element and is only a special case of the general DOF formula based on POC set.
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