3-UPU并联机构多目标参数的优化

Multi-objective parameter optimization of 3-UPU parallel mechanism

在同一工作空间下,并联机构的结构参数不同,将导致不同的运动性能,因此,获得并联机构最优结构参数是机构运动性能的重要保证。针对这一问题,选取3-UPU并联机构作为研究对象进行运动学分析,建立机构的运动学方程,并根据其正逆解公式求出了3-UPU并联机构的雅克比矩阵;在给定的工作空间内,利用3-UPU并联机构的雅克比矩阵的条件数,通过遗传算法对并联机构的结构参数进行优化分析,该设计数据为并联机构结构参数设计提供了理论基础。

In the same workspace,different structural parameters of parallel mechanisms generate different motion performance.Therefore,obtaining the optimal structural parameters of parallel mechanisms is an important guarantee for the motion performance of mechanisms.In order to solve this problem,this paper chooses 3-UPU parallel mechanism as the research object for kinematics analysis,establishes the kinematics equation of the mechanism,and obtains the Jacobian matrix of 3-UPU parallel mechanism according to its forward and inverse solution formula.Then,in a given workspace,by the Jacobian matrix condition number of 3-UPU parallel mechanism,genetic algorithm is used to optimize the structural parameters of parallel mechanism.The design data provide a theoretical basis for the structural parameters design of parallel mechanism.