一种新型并联机构的运动副布置对机构性能的影响分析

Analysis of Performance Influenced by the Joints' Distribution of a Novel Parallel Manipulator

研究了一种新型并联机构的运动副布置对机构性能的影响。首先,定义了一个立方体工作区域,得到了对机构的实际应用影响较大的几个参数与工作空间点的笛卡尔坐标之间的解析关系。然后,在已知工作区域内,讨论了当运动副姿态发生变化时,机构的输出速度及力的变化规律,同时采用MATLAB的遗传算法工具箱求解了驱动杆冲程的变化规律。最后,依据研究结果给出了不同工作要求下运动副布置的选取原则。

The influence of joints＇ distribution on a novel parallel manipulator performance was studied. Firstly, a cube work region was defined, and the analytic relationship between workspace point Cartesian coordinates and some manipulator parameters which were important to application was derived. Secondly, when the revolute joint pose varied, the output velocity and the force varying laws within the prescribed work region were discussed. Meanwhile, limb--stroke varying law was solved through GA （genetic algorithm） tool of Matlab. Finally, joint distribution choice criteria meeting different requirements were listed according to study results.