基于雅克比矩阵的并联机构结构参数优化设计

Structure parameters optimization design of parallel mechanism based on Jacobian matrix

并联机构作为一种空间机构,其结构参数多,机构设计复杂,而且结构参数的改变会直接影响机构的运动精度,因此设计出合理的结构参数,成为并联机构结构设计的关键问题。以三平动并联机构为研究对象,提出一种基于雅克比矩阵的并联机构结构参数优化设计的方法。首先根据并联机构的结构形式推导出动平台的数学模型并建立雅克比矩阵,然后根据并联机构雅克比矩阵中的条件数性能评价指标,利用MATLAB软件对已知工作空间的并联机构结构参数进行优化仿真分析,最后优化出合理的结构参数。

The parallel mechanism＇s feature are：a spatial mechanism, many structure parameters,mechanism design complex,and the change of structure parameters will directly affect the motion precision of mechanism.So the reasonable design of the structure parameters becomes a key problem of the parallel mechanism structure design.The structure parameters optimization design method of three translation parallel mechanisms is proposed based on Jacobian matrix.According to the structure style of the parallel mechanism,the mathematics model of the moving platform and the Jacobian matrix are deduced.And then,by the the condition number performance indices of the parallel mechanism Jacobian matrix,using the MATLAB software,optimization simulation analysis of the parallel mechanism structure parameters is conducted as known mechanism space.And finally,reasonable structure parameters are obtained.