摘要
利用包括Jacobian矩阵和Hessian矩阵的全域性能指标对新型的3-RR(RR)R并联机构的速度和惯性力性能进行分析,不同于以往仅依据Jacobian矩阵对机构的性能进行评价,给出机构的性能图谱,通过观察图谱挑选出有利于提高机构性能的机构尺寸,为机构的优化设计提供理论依据。
In this paper,the velocity and inertial force performance of a new 3-RR（RR） R parallel mechanism are analyzed by global conditioning index which includes both Jacobian matrix and Hessian matrix,and this index is different from that one which only includes Jacobian matrix. The performance atlas are given, and the mechanismg parameters can be easily selected for improving the mechanismg performance. The conclusion presented in this paper provides the theoretical grounds for optimum design of the 3-RR（RR） R mechanism.
出处
《机械设计与研究》
CSCD
北大核心
2006年第5期37-40,共4页
Machine Design And Research
关键词
全域性能指标
条件数
影响系数矩阵
并联机构
global conditioning index
condition number
influence coefficient matrix
parallel mechanism
