摘要
针对空间三平移并联机构输入/输出强耦合所引起的实时控制的问题,根据方位特征(Position and orientation characteristic,POC)方程的并联机构拓扑设计理论和方法,提出一种零耦合度的三平移并联机构,机构由2条CPR和1条UPU支链构成,有解析式位置正解、耦合度低、较好的运动灵巧性能、工作空间大等特点。分别对方位特征集、自由度、耦合度等主要拓扑特性进行计算,建立运动约束方程并得到机构输入、输出位置解析式。研究奇位异形发生的条件,并分析以雅可比矩阵条件数倒数的灵巧度和动平台执行末端的操作空间等运动性能指标,最后,以机构的全局灵巧度作为优化目标,选择蝗虫优化算法(Grasshopper optimization algorithm,GOA)进行尺寸参数的优化设计。为该并联机构结构设计和高精度位置控制提供理论参考依据。
In view of the real-time control problem caused by the strong coupling of input/output of theparallel mechanism, a three translation parallel mechanism with zero coupling degree is proposed according tothe topological design theory and method of parallel mechanism of orientation feature position and orientationcharacteristic(POC) equation. The mechanism is composed of two CPR and one UPU branch chain, which hasthe characteristics of analytical position positive solution, low coupling degree, good flexibility of motion andlarge working space. The main topological characteristics such as azimuth feature set, freedom degree and cou-pling degree are calculated respectively. The motion constraint equation is established and the analytic expres-sions of input and output positions of the mechanism are obtained. The conditions of odd shape occurrence arestudied, and the performance indexes such as dexterity of reciprocal of Jacobian matrix condition number and op-eration space at the end of dynamic platform are analyzed. Finally, the global dexterity of the mechanism is tak-en as the target of configuration optimization and the optimization of size parameters is carried out by the grass-hopper optimization algorithm(GOA). It provides theoretical reference for the structural design and high preci-sion position control of the parallel mechanism.
作者
李丽红
张发海
朱磊
Li Lihong;Zhang Fahai;Zhu Lei(Department of Mechanical Engineering,Jiangsu College of Safety Technology,Xuzhou 221000,China;College of Materials and Physics,China University of Mining and Technology,Xuzhou 221116,China)
出处
《机械传动》
北大核心
2022年第10期64-70,76,共8页
Journal of Mechanical Transmission
基金
江苏省博士后科研资助计划项目(2019K205)
中央高校基本科研业务费项目(2019XKQYMS16)。
作者简介
李丽红(1982—),女,河北唐山人,本科,讲师,研究方向为机械电子工程、机器人技术。
