3-PRS并联机构关键参数优化设计  

Optimization design of key parameters for the 3-PRS parallel mechanism

作　　者：程祥[1] 黄玉美[1] 高峰[1] 彭中波[1] 张永贵[1] 

机构地区：[1]西安理工大学,西安710048

出　　处：《机械设计与制造》2005年第8期27-28,共2页Machinery Design & Manufacture

摘　　要：这里研究了一种具有Z轴、A轴、B轴运动的3-PRS并联机构,使其可以作为一个部件完成复杂曲面铣削加工,且能够完成立式卧式加工。应用雅可比矩阵条件数作为一项指标,对3-PRS并联机构的关键参数在其工作空间内进行优化,可使3-PRS并联机构的A及B轴的转动范围在满足90°的同时达到最优。该优化过程可用于此类机构的创新设计。A 3 - PRS parallel mechanism with Z, A and B motions is studied in this paper, which can finish complicate curved surface milling and vertical and horizontal machining, the key parameters are optimized in the whole workspace by the condition number of the Jacobian matrix. So the 3 -PRS parallel mechanism has fine properties with the motion capability of vertical and optimization method can be used for innovative design of the horizontal machining after the optimization. The mechanisms.

关 键 词：并联机构 雅可比矩阵 关键参数 优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]