一种并联混合机的运动学分析与尺度优化设计  

Kinematics Analysis of a Parallel Mixing Machine and Its Scale Optimal Design

作　　者：陈晶[1] 郭倩[1] 朱伟[1] Chen Jing;Guo Qian;Zhu Wei(School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学机械与轨道交通学院,江苏常州213164

出　　处：《机械传动》2024年第10期61-67,共7页Journal of Mechanical Transmission

摘　　要：根据方位特征集(Position and Orientation Characteristics,POC),提出了一种单输入多维输出的2RRS-S并联机构。分析了其拓扑结构、自由度及耦合度;采用基于耦合度的拓扑特征运动建模方法,建立了机构的运动正解模型,并通过仿真模型进行了验证;根据物料混合要求,设计了基于2RRS-S并联机构的多维混合机三维模型,仿真模拟了其运动轨迹以及姿态角的运动特征;以增大动平台姿态角变化量为目标函数,采用差分进化算法对机构的尺度参数进行优化,所得机构比优化前具有更好的混合运动性能。A single input and multi-dimensional output 2RRS-S parallel mechanism was proposed based on the position and orientation characteristics(POC),and its topological structure,degree of freedom,and coupling degree were analyzed.A forward motion solution model of the mechanism was established by using the topological feature motion modeling method based on the coupling degree and verified through simulation models.According to the material mixing requirements,a three-dimensional model of a multi-dimensional mixing machine based on the 2RRS-S parallel mechanism was designed,and its motion trajectory and motion characteristics of attitude angles were simulated.Taking the variation change of the attitude angles of the moving platform as the objective function,the differential evolution algorithm was used to optimize the scale parameters of the mechanism,and the obtained mechanism has better mixing motion performance than that before the optimization.

关 键 词：并联机构 混合机 正向运动学 优化设计 

分 类 号：TH112[机械工程—机械设计及理论]