基于超混沌数学规划的3SPS-1PS并联髋关节试验机分岔行为分析

针对一种并联髋关节试验机运动分岔特性进行了分析。将高度非线性分岔方程组转化为数学规划分岔方程,从而利用超混沌序列的"遍历"特性,求解出数学规划分岔方程的全部解,改善了分岔方程组求解的收敛性及收敛速度;并以雅克比矩阵行列式等于零为条件,采用单参数驱动方式对试验机分岔点进行了搜索;并对分岔点附近的路径进行了跟踪。结果表明在路径规划中综合考虑试验机的运动学、动力学及装配构型可以提高其稳定性。

Bifurcation Behavior Analysis for 3SPS-1PS Parallel Hip Joint Manipulator Based on Hyperchaos and Mathematical Programming

A novel method is used to analyze bifurcation behavior based on the hyperchaos and mathematical programming. Firstly, the highly nonlinear bifurcation equations are transformed into a programming bifurcation equation. Secondly, the ergodic capacity of the hyperchaos is used to solve the all-configuration of the programming bifurcation equation, which improves the convergence accuracy and efficiency. Finally, the bifurcation behavior of the manipulator is simulated based on the single-parameter driving. The simulation results show the configuration is an important issue for improving the stability, so the configuration should be considered in path planning.