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采用过约束冗余驱动提高球面并联机构精度容错能力的研究
采用过约束冗余驱动提高球面并联机构精度容错能力的研究
611731
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23 16 2012 8
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i)
wiz
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(
17)
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i
n
i +Bicos
i +Ci =0
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i-1)
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1
(
17)
(
18)
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(
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i =
c
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MATLAB
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[-9
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9
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20)
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19)
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1
bi = wixc((
i-1)
)
s
i-1)
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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(
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[
J].
Tr
i
bo
l
ogyI
n
t
e
r
na
t
i
ona
l,
2002,
35(
3):
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144.
[
2] ,, .
[
J]. ,
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40(
7):
99
104.
[
3] ,, .
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5):
456
460.
[
4] ,, .
.[
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20(
1):
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66.
[
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Lundbe
r
g
[
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72.
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593.
[
6] ,, .
r
imen
t
a
t
i
ono
faFa
s
t3-do
fCame
r
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i
ng
pe
[
7]RenNi
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ZhuDong,Wayne W C,
e
ta
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A Thr
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[
2]Go
s
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S
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e.
De
ve
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opmen
tandEx
De
v
i
c
e[
J].TheI
n
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na
t
i
ona
lJ
ou
r
na
lo
f Robo
t
i
c
s
Re
s
e
a
r
ch,1997,
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[
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[
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571.
Dimens
i
ona
lDe
t
e
rmi
n
i
s
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i
cMode
lf
o
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//ASME/STLE
L
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ob
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ems[
C]
2007I
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na
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ona
lJ
o
i
n
tTr
i
bo
l
ogy Con
f
e
r
enc
e.
San
Di
ego:
ASME,
2007:
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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] .
[
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[
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8] , , . [M].
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1976
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,,1969
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1959