Theory and methodology for kinematic design of Gough-Stewart platforms

作     者：黄田 汪劲松 David J.Whitehouse 

作者机构：School of Engineering University of Warwick Coventry CV4 7AL UK) 

基　　金：Project supported by the National Natural Science Foundation of China (Grant No. 59775006) other financial sources 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：1999年第42卷第4期

页      码：425-436页

摘      要：The kinematic design issue of Gough-Stewart platforms is investigated. Based upon a full understanding of the geometrical characteristics of workspace boundary, a spherically-shaped prescribed workspace having a given orientation capability is defined for the synthesis of a well behaved workspace. Two performance measures are presented, i.e. the local dexterity and workspace radius ratio. The dimensions of the platform are determined with a prior knowledge of how the design parameters affect the dexterity and workspace radius ratio, resulting in an optimal design in terms of these performance indices. An example of application to the kinematic design of a hexapod machine tool is given to illustrate the effectiveness of this approach.

主 题 词：Stewart platforms parallel manipulators workspace dexterity optimal design. 

学科分类：08[工学] 080203[080203] 0802[工学-机械学] 

核心收录：

D　O　I：10.1007/BF02916752

馆 藏 号：203792870...