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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。
Analyzing the performance of the new type 3-RR (RR) R parallel mechanism by using the global performance index including Jacobian matrix and Hessian matrix. Different from the past performance evaluation of the mechanism based on Jacobian matrix, Performance maps, through the observation of the map to pick out the size of the organization conducive to improving the performance of institutions, to provide a theoretical basis for the optimal design of the organization.