Optimum design of a planar parallel robot based on force transmissibility
Optimum design of a planar parallel robot based on force transmissibility
复制标题
基于力传递性的平面并联机器人优化设计
DOI：
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发表时间：
2008
影响因子：
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通讯作者：
吴泽启
中科院分区：
文献类型：
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作者：
张立杰;王立平;刘辛军;吴泽启
以PVRRRPV并联机器人为例，利用传递角的概念定义了局部传递指数（LTI）、良好传递工作空间（GTW）和全局传递指数（GTI）3个评价指标，以便于并联机器人几何参数的优化，结果表明，采用这3个指标设计的并联机器人总是远离奇异点，具有良好的运动/力传递性能。
The concept of transmission angle was used to define three evaluation indices,the local transmission index(LTI),the good transmission workspace(GTW),and the global transmission index(GTI) to facilitate optimization of the geometric parameters of a parallel robot,with the PVRRRPV parallel robot taken as an example.The results show that robots designed using these three indices always operates far from any singularity with excellent motion/force transmissibility.