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以一种可实现整周回转两平动自由度并联机器人为研究对象,提出以空间操作性能最优为目标的综合性能指标。在对该并联机构进行位置逆解分析及速度分析的基础上,推导其速度雅可比矩阵,利用其全域相关代数特征,构造出一种综合考虑条件数全域均值与方差、灵巧工作空间及可操作性的性能指标,依据几何及性能要求给出约束条件,获得机构尺度参数最优化设计结果。最后结合一组算例,验证该性能指标对并联机构优化设计的有效性。
Taking a parallel robot capable of rotating two translational and two degrees of freedom around the whole circle for a research object, a comprehensive performance index aiming at optimizing the space operation performance is proposed. Based on the inverse position analysis and velocity analysis of the parallel mechanism, Jacobian matrix of velocity is deduced. Based on the global algebraic features, a global synthesis and variance, smart workspace and operational According to the geometric and performance requirements, the constraints are given and the results of the optimization of the scale parameters of the structure are obtained. Finally, a set of examples is used to verify the effectiveness of this performance index in the optimization design of parallel mechanism.