3-RRR球面并联机构优化设计研究  

Research on Optimization Design of 3-RRR Parallel Mechanism

作　　者：杨健[1] 周鑫 柳伟兵 赵宏宇[1] YANG Jian;ZHOU Xin;LIU Wei-bing;ZHAO Hong-yu(College of Nuclear Technology ＆ Automation Engineering,Chengdu University of Technology,Sichuan Chengdu 610059,China)

机构地区：[1]成都理工大学核技术与自动化工程学院,四川成都610059

出　　处：《机械设计与制造》2018年第7期119-122,共4页Machinery Design & Manufacture

基　　金：机器人;国家高技术863-809专题专家组;成都理工大学机械工程创新团队(10912-JXTD201501)

摘　　要：为了进一步提高3-RRR纯转动球面并联机构的运动灵巧性和有效工作空间的范围,需对机构的结构参数进行优化。首先根据机构的几何特性建立对应的数学模型;进而本着机构工作空间和运动灵巧性最大的原则,提出一种以机构雅可比矩阵条件数为优化对象的遗传算法,对机构中各运动副的角度、电机输入角度及其他结构参数进行优化,与传统结构参数优化方法相比,有效的将3-RRR球面并联机构的雅克比矩阵条件数控制在1.000008,使该机构的运动灵活性获得较大提高;最后根据优化结果搭建物理样机,其末端输出平台的工作空间图像近乎一个完整的球面。优化后的3-RRR并联机构显示出更强的工程实用性,具有更好的应用前景。In order to improve the dexterity and the effective workspace of the 3-RRR pure rotating spherical parallel mechanism,the structural parameters of the mechanism need to be optimized. Firstly the corresponding mathematical model is established according to the geometric characteristics of the mechanism. Then based on the principle of maximum workspace and movement dexterity,proposed a kind of genetic algorithm which introduced the figure of Jacobi matrix condition to optimize the mechanism,including its motion side angles,motor input angle and other structural parameters.Compared with other traditional structure parameter optimization methods,here the Jacobi matrix condition number of 3-RRR parallel mechanism was controlled at 1.00008,so the movement flexibility of this kind of mechanism has been improved greatly. Finally according to the optimization results,the physical prototype has been built and the working space image of the terminal output has been drawn,which is nearly a complete sphere working space. Obviously,The optimized model of 3-RRR parallel mechanism has more stronger engineering practicality and better application prospect than old ones.

关 键 词：3-RRR并联机构 遗传算法 雅可比矩阵条件数 工作空间最大化 

分 类 号：TH16[机械工程—机械制造及自动化] TH112