6-3-3并联机构尺度的优化综合

Study on dimensional optimization and synthesis for 6-3-3 parallel mechanism

提出了以满足6-3-3并联机构使用功能为准则的尺度综合优化建模方法,即以功能要求的任务轨迹为动平台运动规划路径,以尺度参数和任务轨迹在工作空间的定位参数为设计变量,以机构空间结构尽可能紧凑,而工作空间尽可能大为目标函数、工作空间涵盖任务轨迹、主动件移动范围和关节转角不超过设定极限值为约束,建立优化模型并通过软件编程实现该模型的求解。最后,给出了一个算例。

First, a method of optimization modeling for dimen- sional synthesis is presented based on criterion matching with of 6- 3- 3 parallel mechanism application functions, that is the task locus required by the function is taken as the planning path of plat- form movement, the positioning parameters of dimensional parameters and task locus in workspace is taken as the design variables, mecha- nism spatial structure is compact as far as possible while the work- space is as big a possible is taken as the objective function, the opti- mization model is established under the condition that the task locus, movement range of driving part and joint angle covered by the work- space will not exceed their limits and realizes the solution of the model by software programming. Finally, an example was given.