Dynamic Manipulability and Optimization of a Two DOF Parallel Mechanism

• 作 者: SHAO Hua WANG Jinsong WANG Lip
• 机 构: DepartmentofPrecisionInstrumentandMechanology
• 出 处: 中国机械工程学报
• 发表日期: 2010年4期
• 关键词: 运动优化 两自由度 操作性 并联机构 动态优化设计 并联机器人 角速度矩阵 惯性运动 dynamic manipulability dynamic optim
• 基金项目: （Grant No. 50605041, No. 50775125）, and National Basic Research Program of China （973 Program, Grant No. 2006CB705400）

The dynamic dexterity is an important issue for manipulator design, some indices were proposed for analyzing dynamic dexterity, but they can evaluate the dynamic performance just at one pose in the workspace of the manipulator, and can’t be applied to dyn