一种二平动自由度并联机械手动力尺度综合  

Dynamic Dimensional Synthesis of a 2-DOF Translational Parallel Manipulator for Pick-and-Place Operations

作　　者：张利敏[1] 梅江平[1] 赵学满[1] 黄田[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《天津大学学报》2010年第8期661-666,共6页Journal of Tianjin University(Science and Technology)

基　　金：国家高技术研究发展计划(863计划)资助项目(2007AA04Z245);国家自然科学基金资助项目(50675151);教育部博士点基金资助项目(20060056018)

摘　　要：研究一种二平动自由度高速并联机械手的动力尺度综合方法.在建立逆刚体动力学模型基础上,提出一种基于单轴最大驱动力矩全域最大值最小的动力学性能评价指标,该指标可表示为系统尺度和惯性参数及位形的显函数形式,可直接用于观察奇异位形的出现条件.建立雅可比矩阵奇异值的显式,提出一组兼顾速度、精度和刚度的传递角约束方程,通过考察奇异值与运动学性能的关系,可将传递角约束方程转化为性能约束方程,同时配以工作空间/机构尺度等约束条件,利用工程实例研究性能约束对尺度参数和动力学性能评价指标的影响规律,由此综合出在满足上述约束条件下使得系统动力学性能最优的尺度参数.An approach was proposed for the dynamic dimensional synthesis of a 2-DOF translational parallel ma-nipulator for pick-and-place operations.On the basis of rigid body dynamic formulation,a global dynamic perform-ance index was proposed to minimize the maximum driving torque of a single active joint.The proposed index can be explicitly expressed in terms of dimensional and inertial parameters as well as system configurations,allowing the singular configurations to be easily found.By establishing the explicit singular value of Jacobian matrix,a set of the transmission angle constraints taking into account mapping characteristics of speed,accuracy and rigidity were pro-posed.Then the transmission angle constraints were transformed into a set of performance constraints by investigating the relationship between singular value and kinematics performance.Simultaneously,workspace/machine volume ratio was taken into account.Through an example,the effects of the performance constraints on the feasible domains of design variables and the performance index were discussed in depth.A set of optimized dimensional parameters were obtained for achieving a comprehensive performance throughout the entire workspace.

关 键 词：并联机械手 动力性能 尺度综合 

分 类 号：TH122[机械工程—机械设计及理论]