基于工作空间的4RRR冗余并联机构支链优化  

Workspace-based architecture optimization of a 4RRR parallel kinematic machine with actuation redundancy

作　　者：刘大炜[1] 王立平[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2010年第8期1239-1242,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(50775117);国家"九七三"基础研究发展计划项目(2004CB318007)

摘　　要：工作空间分析是机构设计及运动控制的基础,传统的分析方法限于理论计算,缺乏对机器实际安装效果的研究。该文基于运动学模型及支链运动约束方程,完成了一个4RRR冗余并联机构的支链优化设计。利用Newton-Raphson法和D-H法得到机构的运动学正解和逆解方程,通过分析机构全部5种支链构型下的运动约束,结合运动学模型得到各种构型下的实际工作空间,并依此得到了该4RRR机构的最优支链构型。研究表明:在机构运动学模型中添加构件运动约束方程,能模拟机构的真实运动,其工作空间的分析结果能够用于机构实际安装形式的优化,该方法是对传统的并联机构支链优化方法的有益补充。Workspace analysis is necessary for mechanism design and kinematic control. The traditional analysis method has limited theoretical use and lacks research on the influence of the actual mounting mode. This paper presents an optimization of the link structure design for a 4RRR parallel-link mechanism with an analysis based on the kinematic model and the kinematic chains＇ constraint functions. The Newton-Raphson and D-H methods are used to calculate the machine＇s forward and inverse kinematic functions. All five kinds of structural kinematic constraints are analyzed to call every possible workspace and also the 4RRR machine＇s optimal link structure. This research shows that adding of the components＇ constraint functions into the kinematic model enables simulations of the machine＇s actual movement. The workspace analysis result can be used for optimizing the machine＇s assembling mode. This method is a beneficial compliment to the traditional parallel-link structural optimization method.

关 键 词：并联机构 工作空间 冗余驱动 约束 结构优化 

分 类 号：TH113.2[机械工程—机械设计及理论]