三自由度并联仿生机械腿尺度分析与优化

Dimensional Analysis and Optimization of 3-DOF Parallel Bionic Mechanical Leg

提出一种新型并联仿生机械腿,对该机械腿结构进行了尺度综合和优化。建立了该机械腿的位置矢量模型,推导了该机械腿的位置反解和速度映射方程,得到了速度雅可比矩阵。建立了机械腿的空间评价指标和运动灵巧指标,采用空间模型技术分析了结构参数对机械腿工作空间评价指标和运动灵巧性指标的影响规律。结合加工与装配的工艺性,应用基于性能图谱的多目标概率参数优化法,选取了一组合理的结构参数,为仿生机械腿的静力学分析、动力学分析、刚度分析、轨迹规划和运动控制奠定了基础。

A new kind of parallel bionic mechanical legs is put forward.The dimension synthesis and optimization about the mechanical leg structure is completed.The position vector model of the mechanical legs is established.The leg position inverse solution and velocity mapping equation are deduced,the velocity Jacobian matrix is obtained.The space evaluation indexes and movement dexterity indexes of the mechanical leg are established.By using space model technology,the influence laws of the structure parameter on the working space evaluation indexes and motion dexterity indexes of the mechanical leg are analyzed.Combining with the technology of processing and assembling,the multiple target probability parameter optimization method based on performance map is applied to select a set of reasonable structural parameters,which lays a solid foundation for statics and dynamics analysis,stiffness analysis,trajectory planning and motion control of the bionic mechanical leg.