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针对混联运动机床开发中所采用的二自由度平面运动并联机构部分进行了深入的研究,介绍了该平面运动并联机构的组成,推导了并联机构的运动学正、逆解求解公式,并给出了速度雅可比矩阵,以雅可比矩阵条件数的倒数作为灵巧度的标准并采用全域综合灵巧度的评价方法,基于遗传算法对该机构的结构参数进行了优化,为该机构的设计开发奠定了基础。
In this paper, a deep research is carried out on the two-DOF parallel mechanism used in the development of hybrid motion machine tools. The composition of the planar parallel mechanism is introduced, and the kinematic positive and inverse solutions of the parallel mechanism are derived. The Jacobian matrix of speed is presented. The reciprocal of the conditional Jacobian number is used as the standard of dexterity and the global dexterity evaluation method is adopted. The structural parameters of the mechanism are optimized based on genetic algorithm, which is laid for the design and development of the institution The foundation.