乐高收割机器人_乐高并联机器人 Delta Robot with LEGO

Delta Robot is one of Parallel Robot:

Delta机器人是一种并联机器人：

Delta 并联机器人 LEGO Delta Robot_腾讯视频

Parallel robot uses several serial chains to support a single platform, or end-effector. The end effector (hand) of this linkage (arm) is directly connected to its base by a number of separate and independent linkages working simultaneously.

并联机器人的终端同时被多个轴直接连接。

A Parallel robot arm is designed so that each chain is usually short, simple and can thus be rigid against unwanted movement. The off-axis flexibility of a joint is also constrained by the effect of the other chains.

并联机器人手臂的各轴相对较短并互相制约，可以避免误动作。

Errors in one chain's positioning are averaged in conjunction with the others.

并联机器人各轴的误差不会被累计，而是被平均。

A further advantage of the Parallel robot arm is that the heavy actuators may often be centrally mounted on a single base platform. This reduction in mass along the arm permits a lighter arm construction, thus lighter actuators and faster movements. This centralisation of mass also reduces the robot's overall moment of inertia.

并联机器人手臂的终端重量被各个轴共同分担，因此其总体质量较轻，可以实现较快的运动速度并减小惯性。

A drawback of Parallel robot arm is their limited workspace.

并联机器人的工作空间有限。

Another drawback of Parallel robot arm is their nonlinear behavior: the command which is needed for getting a linear or a circular movement of the end-effector depends dramatically on the location in the workspace and does not vary linearly during the movement.

并联机器人的运动轨迹是非线性的，因此在设计其控制指令时，需要综合线性和环形两种运动。

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