摘要
研究等顶锥角3自由度球面并联机构的全参数尺度解析综合方法。该方法考虑了灵活度各向同性条件和最优传力特性，得到满足这些性能指标的尺度参数封闭解答，在理论上严格证明了前人用数值积分法得到的同一结论。
An analytical approach for the dimensional synthesis of the spherical parallel m echanism having equal apex angles is presented.Both the dexterity and the behav ior of the direct Jacobian matrix in the initial configuration are optimized,res ulting in a set of closed.form dimensional parameters that enable a global cond itioning index to be achieved in the overall workspace.The outcomes conform the optimality of the orthogonal spherical parallel mechanism are achieved by the n umerical results in the previous work
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第8期15-19,共5页
Journal of Mechanical Engineering
基金
国家"863"高技术发展计划!(863-511-943-006)
国家自然科学基金!(59775006)
教育部博士点基金!(97005607)资助项目
