高速高精度定位机构的优化设计  

Optimal Design of a Planar Parallel Manipulator with High Speed and High Precision

作　　者：李娟[1] 孙立宁[1] 刘延杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《压电与声光》2008年第2期242-245,共4页Piezoelectrics & Acoustooptics

基　　金：国家"九七三"计划基金资助项目(2003CB716202);黑龙江省科技攻关资助项目(GC05A509)

摘　　要：提出了一种新型2-自由度(2-DOF)高速高精度平面并联定位机构。首先考虑机构的运动学性能,基于雅可比条件数进行了机构构型的优化设计,并以全局性能指数为目标,得到了机构的最佳工作空间位置及形状;然后提出一种用于高速度和高精度机构的优化目标函数,进行了机构的结构尺寸参数优化。仿真结果显示,优化设计后的机构可实现高速高精度,具有较好的运动学性能。这种优化设计方法对此类结构的设计具有指导意义。This paper introduces a novel 2-DOF high speed and high precision planar parallel manipulator. Firstly, the optimal configuration of the manipulator is obtained based on the condition number. Secondly, the optimal shape and position of workspace is obtained based on the global performance index. Finally, a optimalobjective function, used to high speed and high precision mechanism, is presented to perform the dimension optimization design. The simulation results showed that the optimal mechanism can obtain high speed and high precision. The optimal design method is effective for this kind of mechanism.

关 键 词：平面并联机构 高速高精度 优化设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]