摘要
利用同时基于一阶Jacobian矩阵和二阶Hessian矩阵的性能评价指标体系,对一种新的并联机器人机构4-RPR进行了运动学及动力学性能分析。通过分析机构尺寸和性能指标之间的关系,进行了机构性能的优化,为机构设计提供了理论依据。
The paper analyzed the kinematics and dynamics properties of a novel 4-RPR parallel mechanism using performance evaluation indices based on the one-order Jacobian matrices and the two-order Hessian matrices. It also optimized the mechanism＇s performance by analyzing the relationship between parameter sizes and performance indices. All these provide the theoretical basis for the design of mechanisms of similar types.
出处
《机械科学与技术》
CSCD
北大核心
2007年第2期184-187,共4页
Mechanical Science and Technology for Aerospace Engineering
