摘要
以含中间恰约束PU支链、能够实现三自由度的3UPS-PU、4UPS-PU并联机构为研究对象,对机构进行运动学分析,建立机构模型和位置数学模型,求解完整的雅可比矩阵。建立全域灵巧指标和全域刚度性能指标,基于粒子群优化算法对两种并联机构进行多目标优化,并进行比较分析。结果表明,4UPS-PU冗余并联机构比3UPS-PU并联机构具有更好的全域灵巧数和全域刚度数。
The three degree of freedom( 3-DOF) was able to implement by the parallel manipulators 3UPS-PU and 4UPS-PU with intermediate constraints PU chain are taken as study object. The mechanism model and mathematical model were established through the kinematics analysis of the mechanism,meanwhile the whole Jacobian matrix were deduced. The Global Dexterity Index and the Global Stiffness Index of performance were set up,and the two kinds of parallel manipulators were performed of multi-objective optimization based on the Particle Swarm Optimization( PSO) algorithm,and were compared and analyzed. The results show that 4UPS-PU redundant parallel manipulator has better Global Dexterity and Global Stiffness Index than that of 3UPS-PU parallel manipulator.
出处
《机床与液压》
北大核心
2015年第21期98-102,共5页
Machine Tool & Hydraulics
关键词
并联机构
性能指标
粒子群优化
多目标优化
Parallel manipulator
Performance index
Particle swarm optimization
Multi-objective optimization
