新型多自由度混联机构的分析与研究  

Analysis and research of a new-type multi-DOF hybrid mechanism

作　　者：刘凯[1] 吴洪涛[1] 缪群华[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《机械设计与制造》2010年第10期108-110,共3页Machinery Design & Manufacture

基　　金：江苏省数字化制造技术重点建设实验室(HGDML-0605)

摘　　要：提出一种基于相似平台的新型多自由度混联机构。该机构由六个6-6p相似平台串联而成,每个平台的六根杆中只有一根为驱动杆,以此实现六自由度的运动。求解该机构运动学正解,结合遗传算法和迭代法分析其运动学逆解。使用遗传算法对机构的结构参数进行优化,验证其动力学性能。A new-type multi-DOF hybrid mechanism based on Similar Platform is presented.It mechanism is composed of six 6-6p Similar Platforms in series.Each platform has only one driving leg.There’re six driving legs in all which achieve 6-DOF motion.The forward kinematics of the mechanism is set up.Genetic algorithms and iterative method are combined for the analysis of the inverse kinematics.Structure parameters optimization is done using genetic algorithms and the dynamic performance is verified.

关 键 词：混联机构 相似平台 遗传算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]