| Summary: | 碩士 === 大同工學院 === 機械工程研究所 === 87 === Comparing to serial mechanism, the parallel mechanism has higher precision, higher stiffness and better dynamic-response characteristics. In recent year, the parallel mechanism has applied to robot, tool machine or force-feedback joystick.
This article addresses the machine design, kinematics, inverse kinematics and the determination of the workspace of parallel mechanism. In addition, on software we use real time and multiplex system to control the parallel robot. Final, we discuss the advantages, disadvantages and evolution of the parallel robot.
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