基于并联机构调姿的大部件支撑点优选  

Supporting point optimal selection of big part based on parallel mechanism align-positioning

作　　者：张洪双[1,2] 王青[1] 柯映林[1] 蒋君侠[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,浙江杭州310027 [2]河海大学机电工程学院,江苏常州213022

出　　处：《计算机集成制造系统》2014年第10期2419-2425,共7页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(50905161);浙江省科技计划资助项目(2010C31097)~~

摘　　要：为了提高基于并联机构形式的数字化调姿装置的操作性能和支撑稳定性等,对部件上的支撑点位置进行了优化选择。建立了该定位调姿装置的运动学模型,根据分支机构运动链的矢量图形,求解了定位调姿装置的位置方程及机构雅克比矩阵;根据机构雅克比矩阵建立了调姿装置的灵活度、承载力和刚度等性能评价指标;根据定位雅克比矩阵建立了调姿装置对部件定位时的支撑稳定性指标;对上述指标进行综合评价,根据指标的优化得到了部件的优化支撑点位置。分析结果表明:基于并联机构形式的大部件调姿装置的性能评价指标和位姿无关,支撑稳定性和姿态有关,且各指标依赖于初始支撑点的选择,以上结论为大部件定位支撑点的选择提供了参考。To improve the operating performance and supporting stability of digital align-positioning device based on parallel mechanism, the supporting points on parts were selected optimally. The kinematic model of the align-posi- tioning device was established, and the position equation and mechanism Jacobean matrix were solved according to the vector graphics of the kinematic chain branches. The performance indexes of align-positioning device such as dexterity, capacity and stiffness were constructed according to mechanism Jacobean matrix~ the supporting stability index was established according to locating Jacobean matrix. Thus the optimal supporting positions for wing were determined by considering the indexes optimization. The results showed that the big part＇s align-positioning device based on parallel mechanism was unrelated to evaluation index, but related to supporting stability, and each index was depended on the initial selection of supporting point, which provided a conference for the selection of big part lo- cating supporting point.

关 键 词：并联机构 性能评价指标 稳定性指标 机构雅克比矩阵 定位雅克比矩阵 

分 类 号：TH122[机械工程—机械设计及理论] V19[航空宇航科学与技术—人机与环境工程]