按照性能指标进行机构优化设计  

Optimal Design of a Parallel Manipulator According to Performance Indices by Interval Analysis

作　　者：高彦锟[1] 刘忠途[1] 程源[2] 

机构地区：[1]华中科技大学光电子工程系,武汉430074 [2]中山大学工学院现代设计中心,广州510275

出　　处：《机械科学与技术》2007年第12期1600-1606,1611,共8页Mechanical Science and Technology for Aerospace Engineering

摘　　要：提出了一个根据给定相关性能(如精度和工作空间),设计6自由度并联机构的可靠方法。该方法采用了区间分析理论及其算法,不仅可以分析末端执行件定位精度的测量误差,也能够得到设计参数的取值区间。只要并联机构的几何参数满足这些求得的设计参数区间,该并联机构必然达到相关的性能要求。利用本文的算法,应用于一个6自由度的并联机构设计。本文通过对该并联机构搜索空间的分析,比较了设计参数和阈值对计算结果和效率的影响。The paper presents a reliable method for designing a 6-DOF parallel manipulator according to performance indices such as accuracy and workspace. The method follows interval analysis and adopts the interval analysis algorithm. It can not only evaluate the influence of measurement errors on the positioning accuracy of an end-effector but also obtain design parameter ranges so that any parallel manipulator whose geometric parameters lie in the range of the design parameters will achieve its predefined performances. The algorithm in the paper is applied to designing a 6-DOF parallel manipulator. Finally, the paper analyzes the search space of the parallel manipulator and compares the effects of disign parameters and the thresholds on computing results and efficiency.

关 键 词：6自由度并联机构 区间分析 搜索空间 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]