约束条件下冗余驱动并联机构结构参数的优化  

Optimization of Structural Parameters of Redundant Drive Parallel Mechanisms Under Constraint Conditions

作　　者：周敏 黄捷 杨祥 ZHOU Min;HUANG Jie;YANG Xiang(Library and Information Center,Nanning College of Technology,Guangxi Guilin 541006,China;Academic Affairs Office,Guilin Tourism University,Guangxi Guilin 541006,China;Modern Instructional Technology Center,Guilin University of Technology,Guangxi Guilin 541006,China)

机构地区：[1]南宁理工学院图文信息中心,广西桂林541006 [2]桂林旅游学院教务处,广西桂林541006 [3]桂林理工大学现代教育技术中心,广西桂林541006

出　　处：《机械设计与制造》2025年第1期313-319,共7页Machinery Design & Manufacture

基　　金：2022年度广西高校中青年教师科研基础能力提升项目(2022XXH0018)—教育信息化2.0背景下高校“六位一体”网络学习空间构建研究;2023年度广西高等教育本科教学改革工程项目(2023JGB490)—新工科背景下基于现代产业学院的计算机类专业人才培养探索与实践。

摘　　要：针对冗余驱动并联机构运动/力约束性能的评价,提出了评估冗余驱动过约束并联机构构型的约束指标。首先通过以遍历的方式剔除一些力螺旋,将多自由度的并联机构提取为多个单自由度机构,然后提出了输出约束指标(OCI),该指标考虑了所有单自由度多力螺旋机构对并联机构的影响。结合输入和输出约束性能指标,定义了总约束指标(TCoI)来评估并联机构构型的约束能力。基于TCoI建立良好约束指标(GCoI)和不良约束指标(PCoI),以揭示特定工作空间的整体约束能力。通过对不同结构的并联机构性能对比分析,验证了所提约束指标在评估并联机构性能的可行性,最后通过并联机构结构参数的优化设计实例验证了所提方法的有效性。Aiming at the evaluation of the motion/force constraint performance of the redundantly actuated parallel mechanism,a constraint index for evaluating the configuration of the redundantly actuated over constrained parallel mechanism is proposed.Firstly,some force screws are removed by traversal,and the multi-degree-of-freedom parallel mechanism is extracted as mul⁃tiple single-degree-of-freedom mechanisms.Then,the output constraint index(OCI)is proposed,which takes into account the influence of all single-degree-of-freedom multi-force spiral mechanisms on the parallel mechanism.Combined with the input and output constraint performance indexes,the total constraint index(TCoI)is defined to evaluate the constraint ability of the parallel mechanism configuration.Based on TCoI,a good constraint index(GCoI)and a bad constraint index(PCoI)are estab⁃lished to reveal the overall constraint ability of a specific workspace.Through the comparative analysis of the performance of paral⁃lel mechanisms with different structures,the feasibility of the proposed constraint index in evaluating the performance of parallel mechanisms is verified.Finally,the effectiveness of the proposed method is verified by the optimization design example of the struc⁃tural parameters of parallel mechanisms.

关 键 词：并联机构 过约束 结构参数 约束指标 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]