用区间分析法分析螺旋桨的工作空间
Workspace Analysis of the Orthoglide using Interval Analysis
摘要：
本文研究了一种用于加工的三自由度并联机构正交滑块的工作空间分析。该机器具有三个固定的平行线性关节，它们垂直安装，以及一个在笛卡尔x-y-z空间中以固定方向移动的移动平台。在规定的静动力学性能的基础上进行了工作空间分析。正交化的有趣的功能是一个规则的笛卡尔工作空间形状，在所有方向上的一致性能和良好的紧凑性。提出了基于区间分析的最大工作空间和最大立方体的计算方法。
英文摘要：
This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The workspace analysis is conducted on the bases of prescribed kinetostatic performances. The interesting features of the orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. Interval analysis based methods for computing the dextrous workspace and the largest cube enclosed in this workspace are presented.
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