Inverse kinematic optimal design of 6-DOF parallel manipulators  

作　　者：张义凤 姚郁 

机构地区：[1]Control and Simulation Center,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2008年第1期18-22,共5页哈尔滨工业大学学报（英文版）

摘　　要：To obtain the required articular velocities as lower as possible for the given kinematics of the moving platform, this paper focuses on this kind of articular velocities optimization of 6-DOF parallel manipulators. Based on the inverse kinematic analysis, the H∞ norm of the weighted Jacobian matrix was adopted as the performance index to minimize the articular velocities, and then the optimal design problem was formulated to find a manipulator geometry that minimized the global performance index with the constraints of the workspace and structural parameters limits. Since the optimal design problem is a constrained nonlinear optimization problem without explicit analytical expressions, the genetic algorithm was applied to numerically solve the problem. Simulation results indicate that the articular velocities of the optimal manipulators can be the minimum while the kinematic reauirements of the moving platform are satisfied.To obtain the required articular velocities as lower as possible for the given kinematics of the moving platform, this paper focuses on this kind of articular velocities optimization of 6-DOF parallel manipulators. Based on the inverse kinematic analysis, the H∞ norm of the weighted Jacobian matrix was adopted as the performance index to minimize the articular velocities, and then the optimal design problem was formulated to find a manipulator geometry that minimized the global performance index with the constraints of the workspace and structural parameters limits. Since the optimal design problem is a constrained nonlinear optimization problem without explicit analytical expressions, the genetic algorithm was applied to numerically solve the problem. Simulation results indicate that the articular velocities of the optimal manipulators can be the minimum while the kinematic requirements of the moving platform are satisfied.

关 键 词：parallel manipulator articular velocity optimal design 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]