月壤采样试验验证机构运动性能研究  

Kinematic Performance of Mechanism for Lunar Soil Sampling Test

作　　者：郭宗环[1] 谢志江[1] 郑燕红[2] 齐凯[1] 袁岳军 吴小勇[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]中国空间技术研究院,北京100094

出　　处：《农业机械学报》2016年第8期406-412,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(U1530138)

摘　　要：为开展月壤采样试验,设计了一种可以实现姿态调整的3自由度并联机构,根据机构运动特点,采用修正的KG（Kutzbach-Grübler）公式计算机构的自由度,利用封闭矢量法求解该机构位置逆解,并建立机构速度、加速度和可操作度性能评价指标。提出一种基于速度性能与可操作度性能为目标,采用多目标遗传算法优化机构结构参数,对优化后的结构参数进行分析,得到该机构工作空间、速度性能、奇异性和可操作度性能。研究表明：动平台姿态α、β在-0.35~0.35 rad时,机构速度性能最好;可操作度性能指标均在[4,5]区间范围内,不会产生奇异位形,有较好的可操作性能,验证该机构能够满足月壤采样试验功能要求,对开展月壤采样试验验证具有一定的实用价值。In order to launch the lunar soil sampling test,a novel parallel mechanism of three degrees of freedom was designed and analyzed for the position and orientation adjustment. According to characteristics in movement of the mechanism,the freedom degree of mechanism was calculated by the modified K-G（ Kutzbach-Grübler） formula after the analysis and calculation,the mechanism has a total of 3 degrees of freedom with 2 rotation and vertical movement,and the inverse solution of the kinematics problem was solved by adopting the closed vector method. The evaluation indexes of performance in velocity,acceleration and dexterity of the mechanism were established. A multi-objective genetic algorithm was proposed to optimize the structural parameters of the mechanism based on the performance of velocity and dexterity. The working space and singularity as well as performance in velocity and dexterity of the mechanism could be obtained after analyzing the optimized structural parameters. Results showed that the performance in velocity was excellent under the condition that α and β of the moving platform were moved in the range of-0. 35 ~ 0. 35 rad and the maximum value of the velocity performance index of the sampling test mechanism will appear in this range. The results also showed that the singularity would not appear when the performance indexes in dexterity were in the range of [4,5]and the mechanism had good movement performance and the operation velocity of the attitude of the moving platform in the characteristic direction and be satisfied. All the analysis results proved that the mechanism can meet the requirements of lunar soil sampling test and it had certain reference value for development of lunar soil sampling test.

关 键 词：采样试验 并联机构 运动性能 封闭矢量法 多目标遗传算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TH113.22[自动化与计算机技术—控制科学与工程]