【摘要】 在使用Rayleigh商分析并联机器人承载力各个分量范围的基础上 ,定义了一种承载力各向异性指标 ,并采用将工作空间中各个动平台位姿点处的分析结果取平均值的方法将该指标推广到工作空间中 ,该指标能够描述并联机器人在不同位姿下和某种工作空间内坐标系各个方向上的各向异性。并通过一个计算实例 ,对该指标进一步阐述。这个指标为并联机器人分析、设计提供了一种新的途径和思路。更多还原

【Abstract】 Based on analyzing the scope of a payload force’s elements at one pose of the parallel manipulator(PM)with Rayleigh quotient,a new index on the payload anisotropy of the PM is proposed.And then it is expanded to a workspace of the PM using the average value of the payload index at each pose in it. The index has the capability to describe the anisotropy in all different frame directions at a certain pose or in a workspace.An example is presented to illustrate the index more clearly.It’s a new idea or method to analyze a PM or design a PM.更多还原