一种新型三平移并联机器人的运动学与灵巧度分析  

Kinematics Analysis and Dexterity Research of a Novel Three Translational Parallel Robot

作　　者：陈亮[1] 程精涛[2] 熊隽 CHEN Liang;CHENG Jingtao;XIONG Jun(School of Mechanical Engineering,Luzhou Vocational and Technical College,Chuzhou City,Luzhou Sichuan 646000,China;Institute of Engineering Technology,Chengdu University of Technology,Chengdu 610000,China)

机构地区：[1]泸州职业技术学院机械工程学院,四川泸州646000 [2]成都理工大学工程技术学院,成都610000

出　　处：《机械设计与研究》2021年第4期43-48,共6页Machine Design And Research

基　　金：四川省科技计划资助项目(2019YFG0064);泸州市重点实验室资助项目(GY201802)。

摘　　要：以少自由度并联机构作为研究对象,设计一种新型空间三平移并联机器人机构,根据方位特征方程理论计算机构的自由度、耦合度、方位特征集等特性。通过杆长约束条件建立运动学方程模型,推导机构的正逆解解析式,基于此,研究机构的操作空间与运动灵巧性等性能指标,同时分析结构参数尺寸跟操作空间与全局灵巧度的关系,建立全局灵巧度与可达工作空间的多目标优化模型,基于Pareto解的多目标粒子群算法实现多目标参数优化,结果表明:机构耦合度低、具有正解解析式、操作空间大、运动灵巧性较好,优化后的参数解析为并联机构的应用设计提供参考依据。A new type of spatial three translational parallel robot mechanism is designed based on the research object of low degree of freedom parallel mechanism.The kinematic equation model is established by the constraint conditions of the length of the rod,and the analytical expression of the forward and inverse solutions of the mechanism is derived.Based on this,the performance indices such as the operating space and the dexterity of the mechanism are studied.The relation between the structural parameters and the operating space and dexterity is analyzed.The multiobjective optimization model of the global dexterity and the reachable workspace is established.The multi-objective particle swarm optimization algorithm based on Pareto solution is implemented.The results of multi-objective parameter optimization show that the mechanism has low coupling,positive solution,large operation space and good dexterity.The optimized parameter analysis provides reference for the application design of parallel mechanism.

关 键 词：并联机构 方位特征集 工作空间 PARETO解 多目标粒子群算法 

分 类 号：TH122[机械工程—机械设计及理论]