等顶锥角3自由度球面并联机构的全参数解析尺度综合  

ANALYTICAL SYNTHESIS OF 3-DOF SPHERICAL PARALLEL MECHANISM HAVING EQUAL APEX ANGLES

作　　者：黄田[1] 曾宪菁[1] 曾子平[1] 李佳[1] 张世昌[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械工程学报》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

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

关 键 词：球面并联机构 力传递特性 全参数解析 尺度综合 

分 类 号：TH112[机械工程—机械设计及理论]