基于条件数的3—RTT并联机器人参数优化  

Parameter Optimization of the 3—RTT Parallel Manipulator Based on the Conditioning Index

作　　者：赵新华[1] 张威[1] 

机构地区：[1]天津理工学院机械工程学院,天津300191

出　　处：《中国机械工程》2004年第21期1903-1905,1945,共4页China Mechanical Engineering

基　　金：天津市高等学校科技发展基金资助项目 ( 0 2 0 5 16);天津市应用基础研究重点项目 ( 0 3 3 80 3 111)

摘　　要：采用基于各向同性条件数为目标函数 ,优化机构参数以最大化其运动学性能 ;运用归一化方法 ,在位置输入输出方程的基础上 ,分析了机构的轨迹。充分考虑机构的约束情况得到了机构的工作空间 ,分析了工作空间的几何性质 ;求出了机构的局部条件数表达式 ,以全域条件数为指标 ,采用数值方法进行优化研究 ;得到了机构的优化解即满足最大全域条件数时的机构结构参数 ,将优化结果运用到实例中 ,获得满足设计要求的结构参数。This paper presented the use of evaluation criteria, the conditioning index to select structural parameter of the mechanism and analyzed its operational performances. A normalization method was applied to study the workspace of 3-RTT parallel robot. The geometrical properties were analyzed and the whole workspace of 3-RTT parallel robot is obtained with respect to all constraints of the mechanism. The local conditioning index is obtained and the global conditioning index is computed by numerical method. At last, the optimum solutions and the corresponding structural parameters are obtained through the programming in MATLAB. The singularity of the space is tested for the obtained parameters. The example clearly illustrates the usefulness of the results for the analysis and design of parallel manipulators.

关 键 词：三自由度 并联机器人 工作空间 局部条件数 全域条件数 参数优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]