摘要
基于机构的雅可比矩阵条件数,考虑其波动的基础上对并联机构的全域性能指标进行分析,建立了以全局条件数的平均值与波动值的综合值为目标函数的优化模型;并以3-PRPS并联机器人机构为研究对象,根据该机构的结构特点在已知位置反解基础上利用旋量法建立雅可比矩阵;同时在给定约束条件的基础上运用matlab进行数值计算,得到机构全局雅可比矩阵条件数的平均值和优化目标函数值的曲线图,从而优化出最佳参数值,最后对所得结果进行了分析验证。
Based on the condition number of the Jacobian matrix, it improves the global pegrormance index of parallel mechanism and established in the objective function with the comprehensive value that includes the average value and fluctuating value of the global condition number. It uses 3-PRPS parallel machine structure as the research object, according to the characteristics of institutional position, inverse solution is obtained and the Jacobian matrix is established upon the influence coefficient method. It uses the matlab to get agency global condition number of Jacobian matrix and optimal objective function value of the average curve under the condition that constraint conditions are given. Finally it optimizes the best parameter values, and also the result has been carried out to verify the results.
出处
《机械设计与制造》
北大核心
2014年第4期150-152,155,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(50905077)
山东省自然基金(ZR2012EEL05)
关键词
并联机构
条件数
全域性能指标
优化设计
Parallel Mechanism
Condition Number
Global Performance Index
Optimal Design
