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基于Stewart平台的6-SS并联天平结构优化设计 被引量：5

Optimal Architecture Design of 6-SS Parallel Balance Based on Stewart Platform
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摘要 良态的雅可比矩阵决定并联机构的性能 ,并决定了其结构参数是否合理。本文利用矩阵的 F-范数研究一种新颖的并联天平力雅可比矩阵 ,以力雅可比矩阵的条件数为目标函数进行并联天平结构优化设计 ,推导出优化目标函数以 5个基本结构参数表达的解析式。利用数值解法求出目标函数关于过渡变量的最小值 ,并用矩阵2 -范数加以验证 ,找到 8种保证并联天平精度的优化结构。该法同时也为六维力 The condition number of Jacobian matrix of parallel wind tunnel balance is studied by the F-norm based on a novel force Jacobian matrix, the condition number is used as an objective function to design an optimal parallel balance, and the analytical relationship derived between the objective function and the five elementary architectural parameters. The minimum of the objective function about intermediate variables is provided by using numerical method validated by the two-norm of the force Jacobian matrix, and the derived result is used to achieve eight optimal architectures for good parallel balance accuracy, which also provides a better method for the evaluation of the performance index and architecture optimization for the six axis force/torque sensor.
作者 姚裕 吴洪涛 张召明 李鹭扬
机构地区 南京航空航天大学机电学院 南京航空航天大学航空宇航学院
出处 《南京航空航天大学学报》 EI CAS CSCD 北大核心 2004年第4期466-470,共5页 Journal of Nanjing University of Aeronautics & Astronautics
基金 国家自然科学基金 ( 5 0 3 75 0 71 )资助项目 江苏省自然科学基金 ( BK2 0 0 3 0 91 )资助项目 南京航空航天大学青年科研基金资助项目
关键词 STEWART平台 天平结构 优化设计 并联机构 力雅可比矩阵 Stewart platform optimal design parallel balance force Jacobian matrix objective function
分类号 TH122 [机械工程—机械设计及理论]
  • 相关文献

参考文献13

  • 1Merlet J P.Parallel robots[M].Kluwer Academic Publishers,First Edition,2000.
  • 2Sivnin M M,Hosoe S.On the stiffness and stability of Gough-Stewart platform [A].Proc of the 2001IEEE Int Conf on Robotics and Automation[C].Korea,2001.3268～3273.
  • 3Chakarov D.Study of passive compliance of parallel manipulator[J].Mechanism and Machine Theory,1999,34(3):373～389.
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二级参考文献6

  • 1[1]Stewart D. A platform with six degrees of freedom[ A ]. Proc.Instn. Mech. Engrs.[C]. 1965-1966, Vol 180 P:I No. 15,371 - 386
  • 2[5]Charles C, Nguyen S S. Antrazi Zhen-Lei Zhou. Analysis and implementation of a 6 DOF Stewart platform-based force sensor for passive compliant robotic assembly [ A ]. In: IEEE Proc. of the Southeast Conf'91 [ C ], Williamsburg, 1991
  • 3[6]Romiti A, Sorli M. Force and moment measurement on a robotic assembly hand[ J ]. Sensors and Actuators, 1992, A, 32: 531～ 538
  • 4[7]Sorli M. Zhmud N. Investigation of force and moment measurement system for a robotic assembly hand [ J]. Sensors and Actuators, 1993, A,32:651 ～657
  • 5[8]Dwarrakanath T A, Bhaumiek T K, Venkatesh D. Implementation of stewart platform based force-torque sensor[ A ]. Proc. of 1999 IEEE Int. Conference on Multisensor Fusion and Integration for Intelligent Systems [ C ], Taipei, Taiwan,August 1999
  • 6[9]Merlet J P. Parallel Robots[ M ]. Kluwer Academic Publishers,2000

共引文献11

同被引文献33

引证文献5

二级引证文献14

南京航空航天大学学报
2004年 第4期

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