摘要
对新型三平移3-RCR并联机构的位置解、雅克比条件数进行了求解分析;基于3-RCR并联机构的全域条件数,以灵巧度作为优化目标,利用遗传算法对其结构参数进行优化研究,运用MATLAB软件编程得到了该并联机构的灵巧度图谱,为该类并联机构的进一步研究和应用提供了参考。
The global condition index and the Jacobian matrix of the new 3-RCR parallel robot mechanism were calculated through position analysis. Based on the global condition index of 3-RCR parallel mechanism, taking the dexterity as the optimized goal, the optimization mathematical model was established and the optimization structure parameters were obtained by using the genetic algo- rithm. The research results provide important theory foundation for future study and industrial application.
出处
《机床与液压》
北大核心
2012年第5期22-24,42,共4页
Machine Tool & Hydraulics
基金
山东省自然科学基金资助项目(2006ZRB01023)
关键词
并联机构
灵巧度
参数优化
遗传算法
Parallel mechanism
Dexterity
Parameters optimization
Genetic algorithm
