基于三分支非均勻分布球面機構(gòu)的腰關(guān)節(jié)的分析與設(shè)計.pdf

1、燕山大學(xué)碩士學(xué)位論文基于三分支非均勻分布球面機構(gòu)的腰關(guān)節(jié)的分析與設(shè)計姓名：榮譽申請學(xué)位級別：碩士專業(yè)：機械制造及其自動化指導(dǎo)教師：金振林20061001燕山大學(xué)工學(xué)碩士學(xué)位論文AbstractThethesisfocusesonanalysisanddesignofthehumanoidrobots’waistjointbasedOilthethreebranchesunequalspaceddistributionspherical3

2、DOFparallelmanipulatorDesignthoughtisgiven，whichindicatesthesph砸cal3DOFparallelmanipulatorisfittObecomethehumanoidrobots’waistjointTheforwardandreversepositionareanalyzedbyusingthesphericalanalytictheoryandcorrespondingn

3、umericalexamplesarealsogiventoshowtherelationsbetweentheinputsandtheoutputsThesectiondistributionsofdifferentdesignparametersworkspaceareinvestigatedwhat’Smore，effectsofdesignparameters011workspacevolumeareanalyzedquanti

4、ficationallyTheglobalanglevelocityprecisiontransferevaluationindexandtheglobalmomentprecisiontransferevaluationindexaredefinedandtherelationplotsbetweensevendesignparametersandperformanceindexesaredrawnThemechanismparame

5、tersareconfhmedaccordingtotheperformanceindexes，workspacevolumeandassemblyconditions，thenthehumanoidrobots’waistjointbasedOnthesphericalparallelmanipulatorisdesignedKinematicssimulationiSaccomplished，andthesimulationresu

6、ltsandthetheoreticscalculationresultsarecomparedTheresearchofthisthesisprovidesbetterbaseonthewholestudyofthehumanoidrobotKeywordsSphericalParallelManipulator；Waistjoint；Reversecrewtheory；Sphericalanalytictheory；Forwarda