摘要
针对混联运动机床开发中所采用的二自由度平面运动并联机构部分进行了深入的研究,介绍了该平面运动并联机构的组成,推导了并联机构的运动学正、逆解求解公式,并给出了速度雅可比矩阵,以雅可比矩阵条件数的倒数作为灵巧度的标准并采用全域综合灵巧度的评价方法,基于遗传算法对该机构的结构参数进行了优化,为该机构的设计开发奠定了基础。
We present comprehensive research of a 2 - DOF planar parallel mechanism to be used in a new type hy- brid machine tool. The paper introduced this mechanism＇s composition, induced its kinematics direct and inverse solution formulas, and obtained the velocity Jacobian matrix. Taking the reciprocal value of the Jaeobian matrix＇s condition number as the standard of dexterity and adopting the comprehensive assessment method in the whole space, the parameters of this mechanism were optimized using a genetic algorithm. Numerical examples show that our method is feasible and efficient.
出处
《机械科学与技术》
CSCD
北大核心
2010年第1期54-58,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50875209)资助
关键词
并联机构
运动学
遗传算法
综合灵巧度
尺度综合
parallel mechanism
kinematics
genetic algorism
comprehensive dexterity
dimensional synthesis
