摘要
提出一种新型4自由度4PPaRR并联机构。采用方位特征集理论对4PPaRR并联机构进行机构的拓扑特性分析,验证了机构的自由度以及运动性质,分析了该机构的运动学逆解,并通过数值法求解机构的工作空间,然后定义一个转动性能指标来分析机构的转动能力,最后,基于蝗虫优化算法(G OA)对机构结构尺寸进行尺度优化。研究结果表明,4PPaRR并联机构的具有较大的工作空间且较好的转动能力。优化结果为后期样机研制、轨迹规划提供了理论依据。
The parallel mechanism of four-degree-of-freedom(4-DOF)4PPaRR is proposed.Then its to pological characteristic of analysis 4PPaRR parallel mechanism is performed based on the theory of position and orientation characteristic(POC),and the degree of freedom and motion property are validated by it.The inverse kinematics of the mechanism is analyzed,and the workspace of the 4PPaRR parallel mechanism is solved by nu merical method.Then a performance index is defined in order to analyze the rotational capacity of 4PPaRR par allel mechanism,The scale optimization of parallel mechanism size is carried out based on Grasshopper Optimi zation Algorithm(GOA)in the end.The research results show that the 4PPaRR parallel mechanism has larger workspace and rotation capability.The optimization results can provide a theoretical basis for later prototype de velopment and trajectory planning.
作者
李慧平
欧峰
Li Huiping;Ou Feng(School of Mechanical and Electrical Information,Shangqiu University,Shangqiu 476000,China;School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)
出处
《机械传动》
北大核心
2019年第7期91-97,110,共8页
Journal of Mechanical Transmission
基金
北京市自然科学基金(1183062)
关键词
并联机构
方位特征集
工作空间
参数优化
Parallel mechanism
Position and orientation characteristic
Workspace
Parameter optimum
