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.
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