基于冗余驱动的大姿态角并联机构优化设计

白志富; 韩先国; 陈五一

基于冗余驱动的大姿态角并联机构优化设计

北京航空航天大学机械工程及自动化学院, 北京 100083

基金项目: 国家自然科学基金资助项目(50375010)

详细信息

作者简介:
白志富(1979-), 男, 天津人, 博士生, zhifubai@sohu.com.

中图分类号: TP 242
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- 文章访问数: 3365
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- 被引次数: 0
出版历程
- 收稿日期: 2005-06-19
- 网络出版日期: 2006-07-31

Optimal design of parallel mechanisms with large tilting ability based on redundant actuation

School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 分析了并联机构的姿态空间,指出了影响姿态空间的因素为物理约束和奇异约束2类,并且分别从这2个方面给出了扩大姿态空间相应的解决方案.以3PRS(Prismatic Revolve Spherical)并联机构为例,提出了采用新的铰链形式和增加冗余UPS(Universal Prismatic Spherical)支链来增大姿态空间的方法,详细描述了动平台能够实现在各个方向90°偏转的机构设计过程,并基于遗传算法以机构整个姿态空间中的灵活度为目标对机构进行了优化.优化的结果通过仿真证实了可靠性,这对于进一步扩大并联机构的应用范围提供参考.
- 并联机构 /
- 姿态空间 /
- 冗余驱动 /
- 优化设计
Abstract: Orientation space of parallel mechanisms was analyzed. Physical constraints and singular constraints are the two main reasons which restrict the orientation ability of parallel mechanisms. The corresponding solutions from the two aspects were presented. New joints and redundant active UPS(universal prismatic spherical) link were used to enlarge the orientation space of a 3PRS(prismatic revolve spherical) parallel mechanism. The detailed design process of this mechanism with 90° tilting ability was carried out. Genetic algorithm was used to optimize the gross dexterity of the mechanism. Computer simulation showed the effectiveness of these results, which provided references for the wide application of parallel mechanisms.
- parallel mechanism /
- orientation space /
- redundant actuation /
- optimal design

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参考文献(1)

[1] Kim J, Hwang J C, Kim J S, et al. Eclipse-II:a new parallel mechanism enabling continuous 360 degree spinning plus three axis translational motions Proceedings of the 2000 IEEE International Conference on Robotics and Automation. Seoul:IEEE Robotics and Automation Society, 2001:3274-3279 [2] Marquet F, Krut S, Company O, et al. ARCHI:a new redundant parallel mechanism-modeling, control and first results Proceeding of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawall:IEEE,2001(1):183-188 [3] Kim J, Park F, Ryu S, et al. Design and analysis of a redundantly actuated parallel mechanism for rapid machining[J]. IEEE Transactions on Robotics and Automation, 2001, 17(4):423-434 [4] Honegger M, Codourey A, Burdet E. Adaptive control of the hexaglide, a 6 dof parallel manipulator Proceedings of the 1997 IEEE International Conference on Robotics and Automation. Albuquerque:IEEE Robotics and Automation Society, 1997:543-548 [5] 郭祖华.并联数控刀具磨床的动力学优化设计 .北京:北京航空航天大学机械工程及自动化学院, 2001 Guo Zuhua. Dynamics optimization design on parallel CNC cutter grinding machine tool . Beijing:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 2001(in Chinese) [6] 高峰, 黄玉美, 樊泽民, 等. 一种六轴混合驱动数控机床的方案设计[J]. 西安理工大学学报, 2000,16(4):335-338 Gao Feng, Huang Yumei, Fan Zemin, et al. The design of a new type of 6-axis hybrid driving NC machine tool[J]. Jounal of Xi′an University of Technology, 2000,16(4):335-338(in Chinese) [7] 白志富, 韩先国, 陈五一. 冗余驱动消除并联机构奇异研究[J]. 航空学报, 2006,27(4):733-736 Bai Zhifu, Han Xianguo, Chen Wuyi. Study on elimination singularities of parallel mechanism by actuation redundancy[J]. Acta Aeronautica et Astronautica Sinica, 2006,27(4):733-736(in Chinese) [8] 杨晓钧, 王知行, 钟诗胜. 基于工作空间和灵活性的并联机床结构参数优化设计[J]. 机械与电子, 2004,2:14-17 Yang Xiaojun, Wang Zhixing, Zhong Shisheng. Parameter optimal design of parallel machine tool for workspace and dexterity[J]. Machinery & Electronics, 2004, 2:14-17(in Chinese)

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