一种平面二自由度并联机构的运动学参数优化  

Kinematic Parameters Optimization of a 2-DOF Planar Parallel Mechanism

作　　者：陈阳阳[1] 韩旭炤[1] 高峰[1] 张月[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械设计与制造》2016年第3期68-71,共4页Machinery Design & Manufacture

基　　金：陕西省科学研究计划资助项目(2013JQ7009);陕西省教育厅科学研究资助项目(14JK1527)

摘　　要：针对混联运动机床开发中拟采用的一种新型二自由度平面运动并联机构的运动学解析部分进行了深入的研究。文中详细推导了该并联机构的运动学位置正、逆解求解公式和速度求解公式,同时给出了该机构的雅可比矩阵。通过求解可以看出该并联机构运动学正、逆解方程均具有显式表达式,能够从理论上描述并联机构各个运动参数之间的函数关系,易于实现实时控制。同时,为了能够指导该并联机构的设计,还给出了该机构的工作空间和奇异形位。最后运用一种全域综合评价指标基于任务空间对该并联机构进行了运动学参数优化,为其设计开发和实际应用奠定了基础。It investigates the kinematical problems of a planar moving parallel mechanism which is employed in the hybrid machine tool The parallel mechanism is driven by linear actuators via leads screws and the upper kinematic chain between the base platform and the moving platform has a parallelogram structure which can enhance the transverse carrying capacity. The inverse and forward kinematics and velocity and Jacobin matrix analysis are carried out. The results show the inverse and forward solutions have explicit expressions and it is easy to implement the real-time control. The workspace and the singularity configurations of the parallel mechanism are obtained~ The analysis reveals that the parallel mechanism has defined workspace and can avoid the occurrence of singularity configurations in the task workspace. The kinematic optimality of planar parallel mechanism is achieved by minimizing a global and comprehensive conditioning index subject to a set of appropriate constraints based on task workspace. The results are useful to the design development and practical application of the 2-DOF parallel mechanism.

关 键 词：并联机构 任务空间 奇异性 运动学解析 参数优化 

分 类 号：TH16[机械工程—机械制造及自动化] TH113.2