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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，用内点罚函数法对机械手机构的结构尺寸进行优化设计
According to the requirements of the actual work space of the bevel gear quenching manipulator device, aiming at the minimum envelope area of the manipulator space, the structure penalty of the manipulator mechanism is optimized by the interior penalty function method