摘要：A redundantly actuated parallel manipulator(RAPM)with mixed translational and rotational degrees of freedom(DOFs)is challenged for its dimensionally homogeneous jacobian modeling and optimal design of *** this paper,a means to achieve redundant actuation by adding kinematic constraints is introduced,which reduces the DOFs of the end-effector(EE).A generic dimensionally homogeneous jacobian is developed for this type of RAPMs,which maps the generalized velocities of three points on the EE to the joint velocities.A new optimization algorithm derived from this dimension-ally homogeneous jacobian is proposed for the optimal design of this type of *** an example,this paper presents a spatial RAPM involving linkages and cam *** RAPM has 4 DOFs and 6 translational *** linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous jacobian.

摘要：从自由电子激光器的摆方程出发,利用jacobian椭圆函数和椭圆积分分析了系统的相平面特征,并利用加速器概念和束流动力学方法,讨论了系统的稳定性、增益和临界特征等问题。结果表明,由于外力矩存在,自由电子与辐射场的同步性质得到了改善,而系统的能量转换率也得到了提高。但是,由于稳定区面积减小,系统的稳定性和辐射强度受到一定影响。如何综合考虑这两种因数是自由电子激光器设计的重要环节之一。