【正文】 . 8 本文研究的主要內(nèi)容 .......................................................................................... 8 第二章 4UPSRPS 并聯(lián)機(jī)構(gòu) 運(yùn)動(dòng)學(xué)分析 ........................................................... 10 引言 .................................................................................................................... 10 4UPSRPS 并聯(lián)機(jī)構(gòu)描述 ................................................................................. 10 4UPSRPS 并聯(lián)機(jī)構(gòu)反解分析 ......................................................................... 12 工作空間三維表示 ............................................................................................ 19 本章小結(jié) ............................................................................................................ 26 第三章 4UPSRPS 并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)性能分析 ................................................. 27 引言 .................................................................................................................... 27 并聯(lián)機(jī)構(gòu)的雅克比矩陣 .................................................................................... 27 并聯(lián)機(jī)構(gòu)靈巧度的評(píng)定指標(biāo) ............................................................................ 37 并聯(lián)機(jī)構(gòu)的靈巧度分析 .................................................................................... 40 本章小結(jié) ............................................................................................................ 58 第四章 4UPSRPS 并聯(lián)機(jī)構(gòu)結(jié)構(gòu)優(yōu)化設(shè)計(jì) ...................................................... 59 引言 .................................................................................................................... 59 靈巧度的綜合評(píng)定指標(biāo) .................................................................................... 59 結(jié)構(gòu)優(yōu)化設(shè)計(jì) .................................................................................................... 63 本章小結(jié) ............................................................................................................ 69 第五章 結(jié)論與展望 ................................................................................................... 70 結(jié)論 .................................................................................................................... 70 展望 .................................................................................................................... 70 山東科技大學(xué)工程碩士學(xué)位論文 目錄 致謝 .................................................................................................................................. 71 參考文獻(xiàn) ........................................................................................................................ 72 攻讀碩士學(xué)位期間從事科學(xué)研究及發(fā)表論文情況 ......................................... 77 山東科技大學(xué)工程碩士學(xué)位論文 目錄 Contents 1 Introduction .................................................................................................................... 1 The development of the PMT ....................................................................................... 1 Current theory research of PMT .................................................................................... 6 The research significance ............................................................................................. 8 The main content of the paper ....................................................................................... 8 2 Kinematic analysis of the 4UPSRPS PMT .............................................................. 10 Foreward ..................................................................................................................10 Description of the PMT .............................................................................................10 Reverse solution of the PMT .......................................................................................12 Working space analysis of the PMT ..............................................................................19 Summary ..................................................................................................................26 3 Kinematics performance analysis of the 4UPSRPS PMT ................................... 27 Foreward ..................................................................................................................27 Jacobian matrix of the PMT ........................................................................................27 Dexterity index of the PMT .......................................................................................37 Dexterity analysis of the PMT .....................................................................................40 Summary ..................................................................................................................58 4 Structure optimization design of the 4UPSRPS PMT ............................................ 59 Foreward ..................................................................................................................59 Comprehensive dexterity index of the PMT ...................................................................59 The Structure optimization design ................................................................................63 Summary ..................................................................................................................69 5 Conclusions and Prospects........................................................................................... 70 Conclusions .............................................................................................................70 Prospects ..................................................................................................................70 Acknow