这种基于圆锥和平面的构造方法,C.S. Ukidve, J. E. McInroy和 F. Jafari[4]等学者似乎也用过,他们在研究具有容错功能的正交并联机构中给出了非常类似的机构。但文中未提及设计的思路。
[1] KY Tsai, TK Lee, 6-DOF isotropic parallel manipulators with three PPSR or PRPS chains 12th IFToMM World Congress, Besançon (France), June18-21, 2007.
[2] KY Tsai, TK Lee, YS Jang, A new class of isotropic generators for developing 6-DOF isotropic manipulators. Robotica 2008, 26:0505, 619-625.
[3]Hongzhou Jiang, Jingfeng He, Zhizhong Tong, Dynamic isotropy design of modified Gough-Stewart platforms lying on a pair of circular hyperboloids, Mechanism and Machine Theory(to be published, DOI:10.1016/j.mechmachtheory.2011.04.003 )
[4] C.S. Ukidve, J. E. McInroy, F. Jafari, Orthogonal Gough-Stewart Platforms with Optimal Fault Tolerant Manipulability, Proceedings of the 2006 IEEE International Conference on Robotics and Automation,2006:3801-3806.