THE OPTIMUM KINEMATIC DESIGN OF A SPHERICAL 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR
THE OPTIMUM KINEMATIC DESIGN OF A SPHERICAL 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR
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DOI：
10.1115/1.3258984
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发表时间：
1989-06-01
期刊：
影响因子：
--
通讯作者：
ANGELES, J
中科院分区：
文献类型：
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作者：
GOSSELIN, C;ANGELES, J
本文从运动学的观点出发，研究球面三自由度并联机器人的设计问题。建立了三种不同的设计标准，并用于产生具有最佳特性的设计。这些标准是（a）对称性（B）工作空间最大化和（c）各向同性。相关的问题制定和他们的解决方案，其中一个需要诉诸数值方法，提供。从而获得最佳设计。还包括关于奇点的讨论。
In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.