CAJ | 학술논문

研究等顶锥角3自由度球面并联机构的全参数尺度解析综合方法。该方法考虑了灵活度各向同性条件和最优传力特性，得到满足这些性能指标的尺度参数封闭解答，在理论上严格证明了前人用数值积分法得到的同一结论。
연구등정추각3자유도구면병련궤구적전삼수척도해석종합방법。해방법고필료령활도각향동성조건화최우전력특성，득도만족저사성능지표적척도삼수봉폐해답，재이론상엄격증명료전인용수치적분법득도적동일결론。
An analytical approach for the dimensional synthesis of the spherical parallel mechanism having equal apex angles is presented．Both the dexterity and the behavior of the direct Jacobian matrix in the initial configuration are optimized,resulting in a set of closed-form dimensional parameters that enable a global conditioning index to be achieved in the overall workspace．The outcomes conform theoptimality of the orthogonal spherical parallel mechanism are achieved by the numerical results in the previous work．