重载冗余六自由度并联机构优化设计  

Optimal Design for Redundant Six-Degrees-of-Freedom Parallel Mechanism with Heavy Load

作　　者：李晓成[1] 高涛[1] 代小林[1] 

机构地区：[1]电子科技大学机械电子工程学院,四川成都611731

出　　处：《机器人》2013年第6期731-735,共5页Robot

基　　金：中央高校基本科研业务费项目(A03007023801073)

摘　　要：提出了一种适用于重载情况下,冗余驱动力为恒力的六自由度并联机构的设计方法.建立了重载冗余并联机构的动力学模型,以机构冗余支腿的上铰点坐标和冗余驱动力为变量,主动支腿驱动力最小为优化目标,对机构6种典型运动状态进行了仿真和优化.优化结果表明,平台最大负载能力提高了24.02%.A six-degrees-of-freedom parallel mechanism design method is proposed, and this method with constant redundant driving force can be applied to heavy load condition. A dynamical model of redundant parallel mechanism with heavy load is established. Six typical motion states of the redundant parallel mechanism are simulated and optimized, using the upper hinged point coordinate of redundant landing leg and the redundant driving force as input variables and focusing on minimizing the landing leg drive forces. The optimization results show that the load capacity of the platform is increased by 24.02%.

关 键 词：并联机构 冗余 优化设计 重载 

分 类 号：TH112.1[机械工程—机械设计及理论]