一种并联机械手的尺度优化综合  

Dimensional synthesis of a parallel manipulator with full circle rotation

作　　者：吴楠[1] 倪雁冰[2] 吴航[3] 

机构地区：[1]首都航天机械公司,北京100076 [2]天津大学机械工程学院,天津300072 [3]军事医学科学院卫生装备研究所,天津300161

出　　处：《机械设计》2016年第2期1-6,共6页Journal of Machine Design

基　　金：国家高技术研究发展计划资助项目(2012AA040704)

摘　　要：以一种可实现整周回转两平动自由度并联机器人为研究对象,提出以空间操作性能最优为目标的综合性能指标。在对该并联机构进行位置逆解分析及速度分析的基础上,推导其速度雅可比矩阵,利用其全域相关代数特征,构造出一种综合考虑条件数全域均值与方差、灵巧工作空间及可操作性的性能指标,依据几何及性能要求给出约束条件,获得机构尺度参数最优化设计结果。最后结合一组算例,验证该性能指标对并联机构优化设计的有效性。Taking a 3-DOF translational parallel manipulator with full circle rotation as the target of study, an optimal per- formance objective was proposed to synthesizes the existing evaluation index. Inverse kinematics and velocity analysis were pre- sented. The Jacobian matrix of the parallel manipulator was deduced. The mean value and variance of the condition number, good condition workspace, and the indices of operability were taken into account. Dimensional synthesis of the parallel manipu- lator was carried out under various geometrical and performance constrains. Examples were provided to verify the validity of the index, which was used for optimal build of prototype.

关 键 词：并联机构 运动学分析 尺度优化综合 

分 类 号：TH122[机械工程—机械设计及理论]