Delta并联机构工作空间解析和尺度综合.pdf

2 0 0 8 5 39 5 Delta * 高秀兰 鲁开讲 王娟平 Delta Delta , , , , : : TP24 : A Workspace Resolution and Dimensional Synthesis on Delta Parallel Mechanism Gao Xiulan Lu Kaijiang Wang Juanping ( Baoj i Univ er sity of A rts and Sciences, Baoj i, 72 007, China) Abstract A method of workspace resolution and dimensional synthesis on Delta parallel mechanisms was presented. T he resolution expression of the singleopenchain subspace boundary surface and the reachable workspace of the Delta parallel mechanism were obtained based on curve envelope theory. T hen the maximal inscribed spheroid contained in workspace was educed, and the relationship between its position and the dimensions was established. T aking the spheroid as the design space and using the universal average value of Jacobian matrices condition number in design space as mechanism performance index for dimensional synthesis, the optimal dimensions for the Delta parallel mechanism w ere obtained lastly. Key words Parallel mechanism, Workspace, Dimensional synthesis , [ 5~ 6] Delta , , , , , 6 3 , , Delta 3 , 1 Delta 2 [ ] 3 , , [2~ 4] , , : 20070 08 * ( : 05JK 38) , 72 007 5 : Delta 47 , 3