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�������պ����ѧѧ�� 2006, Vol. 32 Issue (07) :856-859    DOI:
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��־��, ���ȹ�, ����һ*
�������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083
Optimal design of parallel mechanisms with large tilting ability based on redundant actuation
Bai Zhifu, Han Xianguo, Chen Wuyi*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Orientation space of parallel mechanisms was analyzed. Physical constraints and singular constraints are the two main reasons which restrict the orientation ability of parallel mechanisms. The corresponding solutions from the two aspects were presented. New joints and redundant active UPS(universal prismatic spherical) link were used to enlarge the orientation space of a 3PRS(prismatic revolve spherical) parallel mechanism. The detailed design process of this mechanism with 90° tilting ability was carried out. Genetic algorithm was used to optimize the gross dexterity of the mechanism. Computer simulation showed the effectiveness of these results, which provided references for the wide application of parallel mechanisms.
Keywords�� parallel mechanism   orientation space   redundant actuation   optimal design     
Received 2005-06-19;


About author: ��־��(1979-), ��, �����, ��ʿ��, zhifubai@sohu.com.
��־��, ���ȹ�, ����һ.�������������Ĵ���̬�Dz��������Ż����[J]  �������պ����ѧѧ��, 2006,V32(07): 856-859
Bai Zhifu, Han Xianguo, Chen Wuyi.Optimal design of parallel mechanisms with large tilting ability based on redundant actuation[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2006,V32(07): 856-859
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