摘要
设计一种三平移4PPa-2Pa并联机构,根据方位特征集分析机构自由度,建立运动学方程并推导得到逆解,通过数值算例对运动学正逆解进行验证,采用极坐标搜索法得到机构的工作空间,建立能够适应不同给定任务工作空间的包含约束的数学模型,分别以长方体和球体的任务工作空间为例,以工作空间体积V最小化作为优化目标函数,通过遗传算法优化得到满足给定任务工作空间下所对应的结构参数优化解。研究结果表明:优化后的工作空间恰好和给定的任务工作空间相切,工作空间利用率显著提升,通过算例验证了该模型的正确性,具有一定的应用价值。
A three translation 4PPa-2Pa parallel mechanism is designed,and the degree of freedom of the mechanism is analyzed based on the orientation feature set.The kinematic equation is established to derive the inverse solution analytical formula.The forward and inverse kinematic solutions are verified through numerical examples.The polar coordinate search method is used to obtain the workspace of the mechanism.It establishes a mathematical model with constraints that can adapt to different given workspaces,takes the task workspace as a box and a sphere respectively,minimizing the workspace volume is the optimization objective function,and genetic algorithm optimization is used to obtain the corresponding structural parameter optimization solution that satisfies the two objective functions of a given task workspace.The research results indicate that the optimized workspace is exactly tangent to the given task workspace,and the workspace utilization rate is significantly improved.The correctness of the objective model is verified by numerical examples,which has certain application value.
作者
夏蓉花
刘艳梨
Xia Ronghua;Liu Yanli(College of Intelligent Manufacturing and Emergency Equipment,Jiangsu College of Safety Technology,Jiangsu Xuzhou,221000,China;School of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing,210016,China)
出处
《机械设计与制造工程》
2024年第1期35-40,共6页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金(51975277)
国家重点研发计划项目(2018YFC0309100)。
关键词
三平移
并联机构
方位特征方程
任务工作空间
遗传算法
three translation
parallel mechanism
azimuth characteristic equation
task workspace
genetic algorithm
