【摘要】 由于６自由度并联机器人结构参数的选取对刀具所加工的活动空间、加工过程中六条腿的受力、以及速度都会产生影响，所以如何选取结构参数是一个很重要的问题。本文求解了在刀尖点活动空间达到指定范围的基础上，使六条腿的受力、速度、尺寸值达到综合最小的最优的结构参数。更多还原

【Abstract】 It′s a very important problem to choose the structural parameters of six degree of freedom parallel robot which will affect the workspace of tool, six legs′force and volecity. In this paper, basing of the assigned workspace of reachability of the tool nose, teh optimum structural parameters which make the six legs′ force, velocity and size reach synthetical least are gained.更多还原