Optimal Design of a Novel Type 3-SPS/CR Parallel Mechanism
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摘要: 提出了一种能实现空间两维转动和沿Z轴移动的机构模型——空间3-SPS/CR并联机器人机构模型,其中SPS支链为驱动支链,CR为恰约束从动支链。利用构型演变与约束综合理论对该并联机构进行了型综合,采用螺旋理论分析了3-SPS/CR并联机构实现空间两转一移运动的机构学原理,计算了其自由度,给出了其位置正解和反解的方法,导出了Jacobian矩阵,分析了工作空间;提出了以该机构的灵巧度、承载力性能的加权综合最优为目标函数,采用遗传算法对该机构的结构参数进行了优化,并将优化结果运用到该机构的设计中,通过算例与仿真验证了该优化方法的正确性。Abstract: A novel 3-SPS/CR spatial parallel mechanism that can perform two-dimensional rotations and translationfor Z axis is presented, the SPS-limp and CR-limp are regarded as the driver and driven. The parallel mechanism is synthesized by the configuration evolution and the constraint synthesis theory. The principles for motions are ana-lyzed based on the screw theory, the degree of freedom is calculated, the forward and reverse solutions of position analysis were presented, the Jaeobian matrix and the workspace were analyzed. The optimal objective function is presented about weight eomposite of dexterousness and capacity performance, the structure parameters of the mech-anism are optimized with genetic algorithm and the optimization results are applied to design of mechanism. Lastly this method is verified through real examole and simulation.
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Key words:
- parallel mechanisms /
- type synthesis /
- the degree of freedom /
- workspace /
- genetic algorithm
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