摘要
依据锥齿轮淬火机械手装置实际工作空间的要求，以机械手工作空间包络面积最小为目标。
Based on the minimum working space required for this particular task, the demand of a manipulators working space in factual application is studied. The optimal dimension of arm is obtained on computer by using inner penalty function method.
关键词
锥齿轮
淬火机械手
优化设计
后桥
汽车
prick gear
quenching manipulator
optimal design
method of inner penalty function
