一类新型并联机器人的尺度优化综合

Optimal dimensional synthesis of a class new closed–chain manipulators

以一类新型并联机器人为研究对象,在导出工作空间与机构尺度参数关系的基础上,提出了一种使得机构体积最小、结构最紧凑的尺度综合方法,最后列举了一算例以示其有效性。

This paper aims at a class new closed-chain manipulators. After having deduced the functional relationship of workspace and components’dimensions, the authors present an approach for the optimal dimensional synthesis of the manipulators. At last, an effective example is provided to illustrate the feasibility of the proposed approach.