| 3-(P)US/PU 3自由度并联机构运动学优化设计 |
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| 引用本文： | 齐明,刘海涛,梅江平,赵学满,黄田.3-(P)US/PU 3自由度并联机构运动学优化设计[J].天津大学学报(自然科学与工程技术版),2007,40(6):649-654. |
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| 作者姓名： | 齐明 刘海涛 梅江平 赵学满 黄田 |
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| 作者单位： | 天津大学机械工程学院 天津300072 |
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| 摘 要： | 研究了一种带恰约束从动支链的3自由度并联机构的运动学优化设计.该机构采用3-PUS/PU拓扑结构,可实现一维平移和两维转动自由度.在构造出该机构全速度雅可比矩阵的基础上,以支链误差传递率为性能指标,在考虑必要机械约束的基础上,采用遗传算法实现了该机构的尺度参数优化设计,并给出相应算例.由实例可知,经优化得出的尺度参数合理.此优化方法同样适用于其他类似并联机构的运动学设计.
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| 关 键 词： | 并联机构 运动学优化设计 遗传算法 |
| 文章编号： | 0493-2137（2007）06-0649-06 |
| 修稿时间： | 2006-10-16 |
Kinematics Optimum Design of a 3-DOF Parallel Mechanism with 3-(P)US/PU Architecture |
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| QI Ming,LIU Hai-tao,MEI Jiang-ping,ZHAO Xue-man,HUANG Tian.Kinematics Optimum Design of a 3-DOF Parallel Mechanism with 3-(P)US/PU Architecture[J].Journal of Tianjin University(Science and Technology),2007,40(6):649-654. |
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| Authors: | QI Ming LIU Hai-tao MEI Jiang-ping ZHAO Xue-man HUANG Tian |
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| Institution: | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| Abstract: | The kinematics optimum design of a 3-PUS/PU parallel mechanism was proposed to realize one translational and two rotational degrees of freedom(DOF).Based on the full kinematic Jacobian matrix,the ratio of the limb error onto the platform pose accuracy was taken as the performance index to be optimized using genetic algorithm in a global sense with a set of appropriate mechanical constraints.An example was given and shows that the optimized dimensional parameters are reasonable.The proposed method is also suitable to the kinematics design of some other similar parallel mechanisms. |
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| Keywords: | parallel mechanism kinematics optimum design genetic algorithm |
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