【正文】 ocity and acceleration. Based on the results of numerical calculation and simulation with the Matlab and Adams, the inverse solution model and the Jacobian matrix are verified. Defining the force and moment dexterity evaluation index, velocity and acceleration dexterity evaluation index. The average condition number, the smallest singular value ,operation dexterity evaluation index are analyzed. All of the dexterity evaluation index above are analyzed visually. Defining a prehensive index: the square mean dexterity coefficient, and optimize he structural of PMT base on the new index, obtain the optimal parameter of the the joints’ distribution position angle and the circle radius on the moving platform and stationary platform. Key words: parallel mechanism, work space, Jacobian matrix, kinematics analysis, structure optimization 山東科技大學工程碩士學位論文 目錄 目 錄 第一章 緒論 ................................................................................................................... 1 并聯(lián)機構(gòu)的發(fā)展概況 .......................................................................................... 1 并聯(lián)機構(gòu)的理論 研究現(xiàn)狀 .................................................................................. 6 課題的研究意義 .................................................................................................. 8 本文研究的主要內(nèi)容 .......................................................................................... 8 第二章 4UPSRPS 并聯(lián)機構(gòu) 運動學分析 ........................................................... 10 引言 .................................................................................................................... 10 4UPSRPS 并聯(lián)機構(gòu)描述 ................................................................................. 10 4UPSRPS 并聯(lián)機構(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)機構(gòu)運動學性能分析 ................................................. 27 引言 .................................................................................................................... 27 并聯(lián)機構(gòu)的雅克比矩陣 .................................................................................... 27 并聯(lián)機構(gòu)靈巧度的評定指標 ............................................................................ 37 并聯(lián)機構(gòu)的靈巧度分析 .................................................................................... 40 本章小結(jié) ............................................................................................................ 58 第四章 4UPSRPS 并聯(lián)機構(gòu)結(jié)構(gòu)優(yōu)化設(shè)計 ...................................................... 59 引言 .................................................................................................................... 59 靈巧度的綜合評定指標 .................................................................................... 59 結(jié)構(gòu)優(yōu)化設(shè)計 .................................................................................................... 63 本章小結(jié) ............................................................................................................ 69 第五章 結(jié)論與展望 ................................................................................................... 70 結(jié)論 .................................................................................................................... 70 展望 .................................................................................................................... 70 山東科技大學工程碩士學位論文 目錄 致謝 .................................................................................................................................. 71 參考文獻 ........................................................................................................................ 72 攻讀碩士學位期間從事科學研究及發(fā)表論文情況 ......................................... 77 山東科技大學工程碩士學位論文 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 .............