3-RCR并联机构结构参数综合优化设计  

Structural parameters multi-objective optimization design of 3-RCR parallel mechanism

作　　者：陈海真[1] 魏峥[1] 李爱军[1] 王红梅[1] 毛立云 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049 [2]山东省水利技师学院基础部,山东淄博255130

出　　处：《山东理工大学学报（自然科学版）》2017年第2期35-39,共5页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：少自由度并联机构优化设计的理论研究虽然取得了一定的成果,但其推广应用仍受到限制.对3-RCR并联机构位置进行了求解,得到了其雅可比矩阵,并获得了机构工作空间的体积和全域条件数;以此为基础对机构进行了参数综合优化,以工作空间的体积最大和灵巧度最高为目标,建立了优化设计数学模型,并用MATLAB遗传算法优化工具箱求解,得到了满足目标要求的结果,为机构的推广应用提供了理论基础.Some achievements have been obtained for structural parameter optimization design the- oretical research of the less freedom parallel mechanism, but its Spread application is still restricted. In this research, the 3-RCR position solutions are obtained, then Jacobin matrix of the structural is received. The workspace volume and global condition index are calculated through posi- tion analysis and solution of the Jacobin matrix. On this basis, structural parameters multi-objective optimization design are executed and the optimization mathematical model is established in order to get the largest workspace volume and the highest degree of dexterity. The mathematical model is solved by using the genetic algorithm toolbox of MATLAB. It provides the theoretical basis for the popularization and application of the mechanism.

关 键 词：三平移并联机构 灵巧度 工作空间 工程遗传算法 结构参数优化 

分 类 号：TH112[机械工程—机械设计及理论]