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对机构力传递性能进行研究,并提出力传递能力概念。建立一种综合机构工作空间、运动学性能和力传递性能的多目标优化函数,并应用于一种三平动自由度的手控器机构优化设计。对机构优化结果进行工作空间、机构雅可比条件数和力传递性能分析,确定基本结构参数和动力驱动参数,进一步完成样机制作。优化和研制过程为高性能手控器的研制提供了参考。
Research on the force transfer performance of the mechanism, and put forward the concept of force transfer capability. A multi-objective optimization function of working space, kinematic performance and force transmission performance of the integrated mechanism is established and applied to the optimization design of a hand control mechanism with three-level and three degrees of freedom. Optimize the results of the organization of the work space, the organization Jacobian conditions and force transmission performance analysis to determine the basic structure parameters and power-driven parameters to further complete the prototype. Optimization and development process for the development of high-performance hand control provides a reference.