摘要
对一种空间3自由度并联机构(3PRRR)进行设计与优化,该机构是由一个动平台与一个静平台通过3个结构相同的移动副-转动副-转动副-转动副构成的支链组成。分析了机构运动关系,建立了运动学模型,分析滚珠丝杠输出与动平台末端位置的关系以及支链各臂转角与动平台末端位置关系。在MATLAB环境下利用C语言编写程序,以工作空间最大化为目标,对各支链的杆长进行优化,得到了相对最优的机构设计方案。在此基础上,设计加工制作了实物样机。
The primary goal is the simulation optimization of a spatial 3 degree-of-fieedom parallel manipulator （ a 3PRRR parallel manipulator）. The architecture of the mechanism is comprised of a moving platform attached to a fixed platform through three similar parallel-revolute-revolute- revolute jointed serial linkages. It analyzed the movement relationship and then established the kinematics model. By taking maximum warkspace as the objective, an optimization program was written in C language in the MATLAB environment. A set of lengths of bars was obtained through the optimization design Then, design and manufacture the prototype.
出处
《机械设计与制造》
北大核心
2015年第3期152-154,158,共4页
Machinery Design & Manufacture
基金
国家863科技计划项目(2013AA041004)
江苏省产学研联合创新资金-前瞻性联合研究项目(BY2012011
BK2013003-10)
国家自然科学基金资助项目(51075209)
江苏省科技支撑计划重点项目(BE2013003-1)
江苏省科技支撑计划重点项目(BE2013010-2)
