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,,

611731
:,
,
, 3-RRR m-RRR(
m4)
,,
,,

:;;;;

:
TH11DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
16.
021
j.
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r
edundancy
pr
ywo
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t
ua
t
i
on

,
Go
s
s
e
l
i
n

, 1994

,,

[
1

2]

, [3]
; [4]
;

,;
:
20110511

:(
50775027);

(
SKLMT-KFKT-201010);
(
GZ

KF-201029)

[5]

,,

;,
m - RRR
(
m4);
,

1985

23 16 2012 8

K= [
k1 k2 km ]

1.
1

,
,
,
,

,
,

,,

)
ki = max(

i -
i

(
1)

mi
n
max
i [
m ,
m ]
i =1,
2,,
m

= K

(
2)


=0

,
=0
, ,
>0
,

1.
2

,
,
:
,

:,

2.
1
,

;,

,:
p(
n
1 ,
2 ,,
n )(

(
ove
r-cons
t
r
a
i
ned)
,

), ,

()


= [

m ] (
m );
q

1
2
,

,q=
T
[
q
1 2 m ] q

,,
,

, q [

[67]

,
]
K, q
,
q
mi
n
m

1986

max
m

,
,

$ 11
$ 21
$ i1
1 0 0 0 0 0
r
r
$ 12 = $ 22 = = $ ir2 = 0 1 0 0 0 0
r
r
r

0 0 1 0 0 0
$ 13
$ 23
$ i3
r

(
4)

$ r 3,

$ r 3 ,
:(
$r
100;
000)
1
:(
$r
010;
000)
2

:,
,
,,
,

2.
2 m-RRR(
m4)

3-RRR

m -RRR
, 3-RRR

:(
$r
001;
000)
3

$
$ $r
3
,,
r
1

r
2

X
Y Z
3

K-G [8]

M=(
6-)(
n-g -1)+ fi +-
i=1

(
5)

, m-RRR

,
M ;
;
n ;
g

,
m m , 3m

,
O

, 3 , P
l
ucke
r

$ 13 :(
a13 b13 c13 ;
000)

,
a1j,
b1j,
c1j(
2,
3) ,
j=1,

3 P
l
ucke
r 4
5
6

,
, 3 3 :
:(
$r
100;
000)
11

, , $ ir1 ,
$ ir2 ,

$ ir3(
i=2,
3,,
m;
m 4)

$ ir1 :(
100;
000)

,
Z -Y -X 3
(
,
) ,
,
,

, D- H 1

: OXijYijZij (
i=1,
2,,
m;
2,
3;
m 3),,
i
j=1,
j i

j P,
Q, P

$ ir2 :(
010;
000)
$ ir3 :(
001;
000)

$ r m
, $ r

23

3, m , 3

:(
$r
001;
000)
13

$ i1

$ ir2
r
$
r

:(
$r
010;
000)
12

M =3[(
2+ m 2)- m 3-1]+ m 3=3 (
6)

$ 12 :(
a12 b12 c13 ;
000)

$ 21

$ r22
r
$

(
5)

X
Y
Z ,

$ 11 :(
a11 b11 c11 ;
000)

$ r11

r
$ r = $ 12
r
$ 13

;

fi i ;

i3

(
3)

ij ij (
i=
1,
2,,
m;
2;
m 4),
j=1,
i1
, Zi1 Zi2 ;
i2 ,

Zi2 Zi3 , i1
/m)i1 , Zi1
0,
2
i2 (
1987

23 16 2012 8

i1
i=1,
2,,
m)
i2(

vi(
i=1,
2,,
m)
3.
2

i i=1,
2,,
m(
m 3),
:
ui,
vi wi Zi1 ,
Zi2 Zi3
,ui
vi
wi Zi1
Zi2 Zi3
, 1

ui =1

1 m -RRR(
m 4)

Z ;
i2 , Zi3 Z

,

,i1 =i2 =/2(


i=1,
2,,
m;
2;
j=1,
m 4)

3.
1
,
, 2

O1 O2

,,
,

(
7)

vi =1

wi = 1

(
1)vi

P v1
P
s
1
1s
v1x

1
v1 = v1y = -s
1c
1 +c
1s
1c
v

1
1z
-c
1c
1 -s
1s
1c

(
8)

,
1 Z11 ;
1 1
;
s* s
i
n* ;
c* co
s*

1 ,
v1 Z
v2 , X
Y v2 v1
Z ,

OZZ11 OZZ21 ,
m ,
=2/m,

vi = [vix viy viz ] = R(i-1) [v1x v1y v1z ]

,,

vix =c((
i-1)
)
s
i +s((
i-1)
)
s
1s
1c
1 -

viy =s((
i-1)
)
s
i -c((
i-1)
)
s
1s
1c
1 +

,
,

(
9)

s((
i-1)
)
c
i
1s
1c

c((
i-1)
)
c
i
1s
1c

viz = -c
i
1c
1 -s
1s
1c
(
(
)
)
c
i

i-1)
) 0
-1
-s((

R(i-1) = s((
i-1)
) c((
i-1)
) 0

0
0
1

,
R(i-1) ;
i Zi1

i1 =
9)
i1 =/2,(

[9],,

O1
O2 ,

,
1988

i-1)
)
s
i +s((
i-1)
)
c
1s
1
vix
c((

(
(
)
)
(
(
)
)
i -c i-1 c
vi = viy = s i-1 s
1s
1
v

i
-s
i
z
1c

(
10)

(
2) wi P

wi Q Qw,
P PwiQwi Pwi
:

wi = TQwi + H

(
11)

ci = wixs((
i-1)
)
c
i-1)
)
1 - wiyc((

T
H=[
000]

(
12)

Q ,wi w1 =
T
[
Z i-1
0 -10]
Q

i-1)
) -s((
i-1)
) 0
0 c((

Q
Q
(
(
)
)
(
(
)
wi= R(i-1) -1 = s i-1
c i-1) 0

0
0
0
1

i-1)
)
0 s((

(
13)
i-1)
)
-1 = -c((

0
0
,

T
Z -Y - X
0 s

c -s 0 c

T(
Z ,
X )= s
c
0 0 1 0
Y ,

0
0 1 -s
0 c

1 0 0
-s

0 c

0 s
c

(
12)~ (
14)(
11)

Q
wi = T(
Z ,
X )
wi = [wix wiy wiz ]
Y ,

(
14)

c
1 -c
2 - wizs
1

xi =

bi
-2

2
2
(
2
bi)
aici
-4
-bi bi -aici
=
2
ai
ai

(
21)

,
i =2a
r
c
t
anxi
i i :

(
22)

i =i 0

,
0 (
===0
)

(
4) (
21)(
22)
,
1
2 i ,
i = fi(
1 ,
2 )

(
23)

,
1 2 ,
q
;
,vi ,

wix =c
c
i-1)
)s((
c
s
c((
i-1)
)+s
c
c((
i-1)
)
s
(
(
)
)
wiy =s
c
s
i

-1

(
15)

2 ,1
2 2max

23)
2min,(

i = fi(
2 )
[
,
2 2min 2max ]

s
s
c((
i-1)
)-c
c
c((
i-1)
)
s

wiz = -s
i-1)
)-c
c((
i-1)
)
s((
s

(
15), ,
wix
wiy
wiz

(
3) vi wi ,
,

(
24)

(
24)(
1)(
2)

:
viPwi =c2

(
10)(
15)(
16)

(
16)

c2 = [
c((
i-1)
)
s
i +s((
i-1)
)
c
wix +
1s
1 ]
[
s((
i-1)
)
s
i -c((
i-1)
)
c
wiy + (
i)
wiz
-s
1s
1 ]
1c

(
17)

Ais
i
n
i +Bicos
i +Ci =0

Ai = wixc((
i-1)
)
s
i-1)
)
s
1 + wiys((
1

(
17)
(
18)

Bi = -wizs
1
(
(
)
)
Ci = wixs i-1 c
i-1)
)
c
1 - wiyc((
1 -c
2

1-xi2
i
2xi ,

xi =t
an ,s
i =
c

i=
2
1+xi2
1+xi2
(
18)

,
MATLAB
==0
,
[-9
,
9
]
, m 4 5
,
3 3 : m -RRR
(
m=3,
4,
5), 0

,,
,,
m ;

(
Ci -Bi)
xi2 +2Aixi + (
Bi +Ci)=0

(
19)

aixi2 +2
bixi +ci =0

(
20)

ai=Ci-Bi,
bi=Ai,
ci=Bi+Ci,(
19)
ai = [
wixs((
i-1)
)- wiyc((
i-1)
)]

c
1 -c
2 + wizs
1
bi = wixc((
i-1)
)
s
i-1)
)
s
1 + wiys((
1

, ,

(
1)
1989

23 16 2012 8
[
J].,2002,23(
3):487

490.

( )

: ,,
1985


(),,
1968

( 1984 )

(
2) m-RRR(
m 4) 3-RRR

, m

(
3) m-RRR(
m3) 0

,
m

(
4) m , ,
m ,
, m

:
[
1]Go
s
s
e
l
i
nC M,Se
f
u
i
ou
iJ,Ri
cha
r
d MJ.Ont
heDi

r
e
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tKi
nema
t
i
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so
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f
o
rm [
J].ASME J
ou
r
na
lo
f Me
chan
i
c
a
l De
s
i
gn,

,
:
[
1]L
i
uXL,
YangPR.
Ana
l
s
i
so
ft
heThe
rma
lEl
a
s
t
o
y

hyd
r
odynami
cLub
r
i
c
a
t
i
ono
faF
i
n
i
t
eL
i
neCon
t
a
c
t
[
J].
Tr
i
bo
l
ogyI
n
t
e
r
na
t
i
ona
l,
2002,
35(
3):
137

144.

[
2] ,, .

[
J]. ,
2004,
40(
7):
99

104.

[
3] ,, .
[
J].,
2005,
25(
5):
456

460.

[
4] ,, .

.[
J]. ,

2000,
20(
1):
63

66.

[
5] , , , .
Lundbe
r
g

[
J]. ,

2008,
28(
1):
68

72.

1994,
116(
2):
587

593.

[
6] ,, .

r
imen
t
a
t
i
ono
faFa
s
t3-do
fCame
r
a-o
r
i
en
t
i
ng
pe

[
7]RenNi
ng,
ZhuDong,Wayne W C,
e
ta
l.
A Thr
e
e-

[
2]Go
s
s
e
l
i
nC M,
S
t-P
i
e
r
r
e.
De
ve
l
opmen
tandEx

De
v
i
c
e[
J].TheI
n
t
e
r
na
t
i
ona
lJ
ou
r
na
lo
f Robo
t
i
c
s
Re
s
e
a
r
ch,1997,
16(
5):
619

630.

[
3] ,, .

[
J]. ,

2003,14(
10):831

833.

[
4] ,, . 3

[
J]. ,

[
J].,
2010,
30(
6):
567

571.

Dimens
i
ona
lDe
t
e
rmi
n
i
s
t
i
cMode
lf
o
rRoughSu
r
f
a
c
e

//ASME/STLE
L
i
ne-c
on
t
a
c
tEHL Pr
ob
l
ems[
C]

2007I
n
t
e
r
na
t
i
ona
lJ
o
i
n
tTr
i
bo
l
ogy Con
f
e
r
enc
e.
San
Di
ego:
ASME,
2007:
191

192.

[
8] .
GB/T274-2000
.[
S] :
,
2001.

2000,36(
8):15

19.

[
9] , .[
J].

[
J].,2
0
0
5,2
7(
1):6

9.

[
10] , , .

[
5] ,, .
[
6] .
[
D].:,2009.

[
7] ,, .

[
J]. ,2009,20

(
2):222

228.

[
8] , , . [M].
:,2006.

[
9] ,, .

1990

,
2002(
5):
17

19.

[
J]. ,
2005,

25(
2):
154

158.

( )

:,,
1976

20
,,1969
,,
1959

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