六维力反馈控制器的设计及参数优化  

Design and Parameter Optimization of a Six-dimensional Force Feedback Controller

作　　者：张凯[1] 宮金良 张彦斐[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《组合机床与自动化加工技术》2016年第11期24-27,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61303006);山东省优秀中青年科学家科研奖励基金项目(BS2012ZZ009)

摘　　要：针对现有的可用作六维力反馈控制器的并联机构动态性能差,刚度差,承载能力差等问题,设计了一种新型三支链六自由度并联机构,建立了逆运动学方程并得到位置反解的解析解。基于约束条件和位置反解,利用一种搜索速度快、搜索精度高的改良极坐标搜索法绘制出了并联机构定姿态工作空间的截面图和实体图。最后以内接于工作空间且高度H与直径D相等的圆柱体的直径为目标,利用全局搜索法得到一组最优机构参数,在机构整体尺寸基本不变情况下使工作空间的内接圆柱体直径增大40%,达到优化机构参数的目的。Currently existing parallel mechanism which can be use as the six-dimensional force feedback controller has shortcoming of worse dynamic performance, poor bearing capacity, bad stiffness and so on. Aiming at this kind research situation, a novel 6-DOF parallel mechanism with three branched chain is de-signed in this paper. The inverse kinematics of the mechanism is built and the analytical solution of the in-verse solution is got. A modified polar coordinate searching method which has rapid searching rate and high search veracity is proposed, the cross-sectional views and 3D entities picture of certain posture working space is drawn using this searching method. At last, using the global optimization algorithm, the mechanism parameters is optimized aiming at maximizing inscribed cylinder of workspace whose height and diameter is equal. The diameter of inscribed cylinder has an increase of 40% after optimization.

关 键 词：并联机构 工作空间 参数优化 

分 类 号：TH164[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]