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Abstract: Tricept robot is one of the most successfully
commercialized parallel kinematic machines. An approach for the optimal
dimensional synthesis of Tricept robot is presented. Given the
prescribed workspace, this approach allows the independent design
parameters to be achieved in a time effective manner by optimizing a
global performance index in terms of the mean value and the extreme
difference of the condition number of the Jacobian matrix throughout the
entire workspace. The results of optimization obtained by this approach
verify the validity of the existing machines, which thereby might also
provide a useful tool for the optimal design of the other parallel
kinematic machines with different structural topology.
Key words: Parallel mechanisms Dimensional synthesis Workspace
CLC No: TP24
国家自然科学基金(59775006，50075059)和天津市科委“十五”攻关和重点基金(99370111，00380211)资助项目.
Received 20020209, received in revised form 20021215
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