平面冗余驱动并联机器人的性能分析与尺度综合  

Performance Analysis and Dimension Synthesis of a Planar Parallel Manipulator with Redundant Actuation

作　　者：刘欣[1,2] 仇原鹰[2] 盛英[2] 

机构地区：[1]南京电子技术研究所,江苏南京210039 [2]西安电子科技大学电子装备结构教育部重点实验室,陕西西安710071

出　　处：《电子机械工程》2010年第6期1-5,47,共6页Electro-Mechanical Engineering

基　　金：教育部留学回国人员实验室基金资助项目(030401);国家自然科学基金重点项目(10433020)

摘　　要：建立了平面2自由度冗余驱动并联机器人的Hessian矩阵,将Hessian矩阵引入全域性能指标中,进行速度、加速度和灵巧度性能指标分析,给出三项指标的性能图谱,讨论结构尺寸变化对机构性能的影响。以该机器人速度、加速度和灵巧度指标为目标函数,以无奇异位形和工作空间为约束条件进行基于性能图谱的尺度综合,对不同权重优化结果的讨论为该机器人的构形设计提供了参考。The hessian marix of a planar 2-DOF（degree-of-freedom） parallel manipulator with redundant actuation is established and introduced into the global performance indices.Three global performance indices of the manipulator involving velocity,acceleration and dexterity are analyzed,followed by the corresponding atlases.The influence of change of structural parameters on mechanism performance is discussed.Then,dimension synthesis is performed,in which the three indices of velocity,acceleration and dexterity are considered as the objective function,and workspace and free-singularity are taken as constraints.The optimal results with respect to different weighting coefficients are discussed,thus proriding valuable references for the design of the manipulator.

关 键 词：冗余驱动并联机器人 HESSIAN矩阵 性能图谱 尺度综合 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]