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3-U^rPS型并联机构的工作空间分析与参数优化 被引量：5

Workspace analysis and parameter optimization of 3-U^rPS parallel mechanism
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摘要 以6自由度3-UrPS并联机构为研究对象,建立其运动学反解方程,并给出机构的主要约束条件。推导出机构可达工作空间的表达式,分析了主要结构参数对工作空间几何性质的影响,利用三维边界搜索法,绘制该并联机构定姿态工作空间三维实体图和截面图。最后以工作空间体积为优化目标,获得结构参数对工作空间体积的影响关系曲线。在机构整体尺寸基本不变的情况下使工作空间体积增大28%,达到优化机构参数的目的。 Aimed at 3-UrPS Parallel Mechanism,the inverse kinematics and principal constraint conditions of this mechanism are built.The expressions of reachable workspace are deduced,and then the effect of major structural parameters produced on geometrical properties of workspace is analyzed.The 3D boundary search method is used to describe the boundary and cross section of constant orientation workspace.The constrained optimization problem of workspace volume is established to present the effects of structural parameters on the workspace and to obtain the maximal workspace volume.Workspace is increased 0.28times as much as the original volume in the event that the structural parameters are basically remains the same.
作者 运红丽 王欣欣 粘松鸽
机构地区 华北水利水电大学机械学院 机械工业第六设计研究院有限公司
出处 《机械设计》 CSCD 北大核心 2013年第11期42-46,共5页 Journal of Machine Design
基金 河南省科技创新型团队资助项目(豫科人组[2011]3号-39) 河南省教育厅2012年度自然科学研究计划资助项目(12A460008)
关键词 并联机构 运动学反解 工作空间 参数优化 parallel mechanism inverse kinematic work-space parameters optimization
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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共引文献178

同被引文献57

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引证文献5

二级引证文献11

机械设计
2013年 第11期

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