中文摘要：

提出了基于6维力/力矩传感器的并联机器人惯性参数辨识新方法,这种方法不需要了解关节摩擦和驱动器动力学特性的精确模型,推导了一般并联机器人的惯性参数辨识模型,分析了并联机器人的基惯性参数,提出了并联机器人惯性参数辨识轨迹的选择原则,并给出了两种新型空间并联机器人的分析实例.

英文摘要：

The paper proposes a new method for identifying the inertial parameters of the parallel manipulator with a six-axis force/torque sensor. The method does not require an accurate model for knowing the joint friction and dynamics of actuators. The inertial parameter identification model is derived and its base inertial parameters are analyzed. The trajectory selection schemes are suggested for the inertial parameter identification and analysis instances are provided for two novel spatial parallel manipulators.