摘要
在建立空间三自由度冗余驱动并联机构Hessian矩阵的基础上,研究空间三自由度冗余驱动并联机构的加速度全域性能指标。在预设工作空间内,绘制加速度全域性能指标图谱。通过观察图谱,分析加速度全域性能指标随并联机构尺寸参数变化的分布规律。结果表明:ηa的最大值为0.803 7,即加速度性能指标最优,对应的结构参数为l_1=3.0 m,l_2=4.0 m,l_3=0.5 m,l_4=3.0 m;加速度性能指标好的空间三自由度冗余驱动并联机构组型主要集中在2.5 m≤l_1≤3.0 m,3.5 m≤l_2≤4.0 m,0.5 m≤l_3≤1.0 m,2.5 m≤l_4≤3.0 m的区域。
The acceleration global performance index of spatial three degree-of-freedom parallel manipulator with redundant actua- tor was researched by Hessian matrix. The performance atlas was drawn in the default workspace. The geometry size distribution law of spatial three degree-of-freedom parallel manipulator with redundant actuator was analyzed, and the optimal size range under acceleration global performance index was established by the performance atlas. The results show that the best acceleration global performance index ηα is 0. 803 7 and the corresponding structure parameters are 11 = 3.0 m, 12 = 4. 0 m, l3 = 0. 5 m, 14 = 3.0 m, furthermore the good acceleration globalperformance areas are 2.5 m≤l1≤3.0 m, 3.5 m≤l2≤4.0 m, 0.5 m≤l3≤1.0 m, 2.5 m≤l4≤3.0 m.
出处
《机床与液压》
北大核心
2015年第15期11-15,25,共6页
Machine Tool & Hydraulics
基金
江西省青年自然科学基金项目(20151BAB217022)
江西省教育厅青年科学基金项目(GJJ14549)
南昌航空大学博士启动金项目(EA201204428)
关键词
冗余驱动
并联机构
加速度
性能指标
Redundant actuator
Parallel manipulator
Acceleration
Performance index
