中文摘要：

使用柔顺关节代替刚性转动副搭建柔顺关节并联机器人实验平台.利用OPTOTRAK测量系统对3-DOF柔顺关节并联机器人动平台轨迹进行测量.实验数据的对比分析表明：柔顺并联机器人运行平稳,由轴向漂移和弹性振动引起的误差均控制在允许范围之内.

英文摘要：

A compliant parallel manipulator with compliant joints instead of rigid ones was built. The trajectory of the 3-DOF compliant-joint robot＇s moving platform was tracked and measured by the OPTOTRAK system. Comparative analysis shows that the compliant parallel robot runs smoothly. The errors caused by axial drift and vibration are controlled within the allowed range.