基于灵巧度3-RCR并联机器人机构的结构参数优化  

Parameters Optimization of the 3-RCR Parallel Robot Mechanism Based on Dexterity

作　　者：陈海真[1] 邹忠月[2] 宋宏鹏[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049 [2]西安交通大学机械工程学院,陕西西安710049

出　　处：《机床与液压》2012年第5期22-24,42,共4页Machine Tool & Hydraulics

基　　金：山东省自然科学基金资助项目(2006ZRB01023)

摘　　要：对新型三平移3-RCR并联机构的位置解、雅克比条件数进行了求解分析;基于3-RCR并联机构的全域条件数,以灵巧度作为优化目标,利用遗传算法对其结构参数进行优化研究,运用MATLAB软件编程得到了该并联机构的灵巧度图谱,为该类并联机构的进一步研究和应用提供了参考。The global condition index and the Jacobian matrix of the new 3-RCR parallel robot mechanism were calculated through position analysis. Based on the global condition index of 3-RCR parallel mechanism, taking the dexterity as the optimized goal, the optimization mathematical model was established and the optimization structure parameters were obtained by using the genetic algo- rithm. The research results provide important theory foundation for future study and industrial application.

关 键 词：并联机构 灵巧度 参数优化 遗传算法 

分 类 号：TH112[机械工程—机械设计及理论]