摘要
通过分析将并联机构的奇异性条件转变成一组线性矩阵不等式(LMI),从而将较复杂的求极值的问题转化为一系列较简单的目标函数具有线性形式的求极值的问题。再根据相应的角度关系,求出机构的全部位形空间的奇异点。另一方面,采用灵巧度下界的倒数以及关节空间刚度矩阵分别用在两个水平轴向上的刚度系数来构成性能指标的参数。通过将求极值问题转变成LMI的标准半正定问题,求解出并联机构的最佳几何学参数。
By means of analysis let the singularity conditions of parallel mechanism be transformed into a set of linear matrix inequalities, thus let the comparatively complicated problems of extreme value finding be transformed into the extreme value finding problems of a series of rather simplified linear formed object functions. Then in the light of the corresponding angular relations all singularity points of configuration space of the mechanism were found. On the other hand, by adopting the reciprocal of lower limit of dexterity and rigidity matrix of the joint space, the rigidity coefficients in the directions of two horizontal axles are used to constitute the parameters of performance targets. By way of letting the problems of extreme value finding be converted into the standard semi-positive definite problems of I.MI, the optimal geometric parameters of parallel mechanism were solved.
出处
《机械设计》
CSCD
北大核心
2005年第12期10-12,18,共4页
Journal of Machine Design
基金
国家自然科学基金资助项目(50375148)
关键词
线性矩阵不等式
并联机构
奇异性
灵巧度
刚度
linear malrix inequality
parallel mechanism
singularity
dexterity
rigidity
