文档介绍：IndustrialRobotsforManipulationwithParallelKinematicMachinesZdeněkKolíbalBrnoUniversityofTechnology,FacultyofMechanicalEngineering,Technicka2,61669Brno,CzechRepublic,e-mail:******@:hainsinindustrialrobots,-effectorswithintheworkspaceofparallelkinematicmachineandinitsvicinitywiththeaimtofacilitateaselectionofappropriateindustrialrobotforautomaticin–:Industrialrobot,hain,linkage,arrangement,machiningcentre,parallelkinematicI puter technology, theconstructionofproductionmachines,andmachiningcentresinparticular,haswitnessedarevivaloftheso–-–,theselectionofrobotscannotbecasual;therehastobeanall–sidedadaptationoftherobottotheconstructionandhandlingpossibilitiesofparallelkinematicmachines,.adaptationintermsofmorphology(hain,numberofdegreesoffreedom),intermsofpurpose(selectionofappropriateendeffectors,ifpossibleautomaticallyreplaceable)andintermsofcontrol[3].If,however,themach