OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS  

作　　者：HE Guangping WANG Fengxiang LU Zhen 

机构地区：[1]School of Mechanical and Electrical Engineering,North China University of Technology, Beijing 100041, China [2]School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

出　　处：《Chinese Journal of Mechanical Engineering》2007年第3期34-38,共5页中国机械工程学报（英文版）

基　　金：This project is supported by National Natural Science Foundation of China (No.50475177);Municipal Natural Science Foundation of Beijing, China (No. 3062009).

摘　　要：Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mecha-nism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimiza-tion is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm.Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mecha-nism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimiza-tion is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm.

关 键 词：Parallel mechanisms Overactuated Optimization synthesis ISOTROPY 

分 类 号：TH12[机械工程—机械设计及理论]