3-RPS并联机构基于任务空间的优化设计  

Optimal design of the 3-RPS parallel manipulator based on task based workspace

作　　者：马春生[1] 尹晓秦 米文博 马振东 MA Chunsheng;YIN Xiaoqin;MI Wenbo;MA Zhendong(School of Mechanical Engineering,North University of China,Taiyuan 030051,CHN)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《制造技术与机床》2021年第7期72-77,共6页Manufacturing Technology & Machine Tool

基　　金：山西省自然科学基金(201801D121183)。

摘　　要：为了充分发挥并联机构优异的运动学性能。以3-RPS并联机构的任务空间为研究对象,选取任务空间体积、局部传递指标和全局传递指标为性能评价指标。绘制了传递性能图谱,并利用局部传递指标对机构在不同位姿下的性能进行了评价和分析。机构的支链越长,任务空间越大;当动平台和静平台的比例为1:1时,机构的动力学性能最好;当动平台旋转时,机构的动力学性能会有一定程度下降,动平台的转动轴线垂直于球副的球心之间的连线时,机构的性能下降最小;完成任务所需转角越大,实体模型支链应当越长,最终获得3-RPS并联机构基于零件拆卸任务的优化方案。In order to make full use of the excellent dynamic performance of the parallel manipulator,this paper took task based workspace of the 3-RPS parallel manipulator as study object,selected the volume of task based workspace,local transmission index and global transmission index as the performance evaluation index,drawn the performance atlases,and used the local transmission index to evaluate and analyze the performance of the manipulator in different positions.The analysis shows that the longer the limb is,the larger the volume is;when the ratio of moving platform to static platform is 1:1,the dynamic performance of the manipulator is the best.When the rotating axis of the moving platform is perpendicular to the connecting line between the ball pairs,the performance of the manipulator decreases the least.The larger the angle needed to complete the task,the longer the limb of solid model.And the optimum strategy based on strawberry picking task of the 3-RPS parallel manipulator is obtained in the end.

关 键 词：并联机构 优化 传递指标 性能图谱 

分 类 号：TB486[一般工业技术—包装工程] TH112[机械工程—机械设计及理论]