偏置铰链并联机构工作空间灵敏性分析与优化  

Analysis and Optimization of the Aensitivity of the Workspace of an Offset Hinge Parallel Mechanism

作　　者：张煜 于阳[1,3] 王学问[1,2,3] 徐振邦[1,2,3] 孙嘉霖 ZHANG Yu;YU Yang;WANG Xuewen;XU Zhenbang;SUN Jialin(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Research Center for Materials and Optoelectronics,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院大学材料与光电研究中心,北京100049 [3]中国科学院空间光学系统在轨制造与集成系统重点实验室,长春130033

出　　处：《组合机床与自动化加工技术》2024年第11期83-89,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(62235018);吉林省科技发展计划项目(20220204116YY)。

摘　　要：为解决偏置铰链并联机构工作空间难以直观评估和设计的问题,基于构型参数对其工作空间进行灵敏性分析,提出了一种工作空间寻优方法。首先,以6-RRRPRR构型并联机构为研究对象,推导出该机构的逆向运动学和雅可比矩阵;然后,基于数值法建立了机构的工作空间,针对位置工作空间不规则的问题,获取了其有效工作空间,在此基础上,对机构工作空间进行了参数灵敏性分析;最后,结合工程实例提出了一种工作空间寻优方法,可以依据设计条件寻找符合机构运动要求的构型参数组合,便于工程应用。In order to solve the problem that the workspace of parallel mechanisms with offset hinges is difficult to evaluate and design intuitively,A sensitivity analysis of its workspace based on configuration parameters and a workspace optimisation method is proposed.First,taking the 6-RRRPRR configuration parallel mechanism as a research object,the inverse kinematics of the mechanism and the Jacobi matrix are derived.Then,the effective workspace of the mechanism is established based on the numerical method,the effective workspace of the position was obtained for the problem of irregularity of its workspace.On this basis,a parametric sensitivity analysis of the workspace of the mechanism was carried out.Finally,a workspace optimisation method is proposed with engineering examples.It is easy to find a combination of configuration parameters that meets the movement requirements of the mechanism according to the design conditions,which is convenient for engineering applications.

关 键 词：偏置铰链 有效工作空间 灵敏性分析 寻优方法 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]