Optimum Kinematic Design of the 4R 2-DOF Parallel Mechanism  

作　　者：谢福贵 刘辛军 王立平 汪劲松 

机构地区：[1]Department of Precision Instruments and Mechanology,Tsinghua University

出　　处：《Tsinghua Science and Technology》2009年第5期663-668,共6页清华大学学报（自然科学版（英文版）

基　　金：Supported partly by the National Natural Science Foundation of China (No.50775118);Program for New Century Excellent Talentsin University (No.NCET-08-0323);the National Key Basic Research and Development (973) Program of China (No.2007CB714000)

摘　　要：This paper analyzes the kinematic optimization design of the 4R 2-DOF parallel mechanism taking into account the force transmissibility. Three indices are introduced to reflect the force transmissibility. Based on these indices and their performance charts, the optimization design process with respect to the workspace is presented in detail. The results show that the designed mechanism is not only far from every singularity but also has good force transmissibility in its workspace. These kinematic optimization indices can be extended to other parallel mechanisms.This paper analyzes the kinematic optimization design of the 4R 2-DOF parallel mechanism taking into account the force transmissibility. Three indices are introduced to reflect the force transmissibility. Based on these indices and their performance charts, the optimization design process with respect to the workspace is presented in detail. The results show that the designed mechanism is not only far from every singularity but also has good force transmissibility in its workspace. These kinematic optimization indices can be extended to other parallel mechanisms.

关 键 词：kinematic optimization parallel mechanism TRANSMISSIBILITY 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]