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This paper presents a novel method for the kinematic optimization of Stewart-Gough platform.A proper motion domain should satisfy three kinds of requirements?? realization of direct motion target,singularity-free kinematics and uniqueness of direct kinematics solution.The rationality of these requirements is proved then.After present a group of combined constraints for motion domain optimization,an engineering optimization method is used finally on a Stewart mechanism to obtain a proper motion domain for the actuators.