摘要
以3UPU并联机构为研究对象,运用Solidwork建立机构的三维模型,根据方位特征集理论对机构的方位特征集、自由度、耦合度进行分析;同时求解机构的运动学逆解;采用一种新型数值分析法分析机构的工作空间;基于果蝇优化算法(FOA)对3UPU并联机构结构参数进行优化。结果表明:3UPU并联机构具有较大的工作空间且工作空间存在空洞。优化后的参数为后期样机研制、轨迹规划提供了依据。
Taking 3UPU parallel mechanism as the research object,the 3D model of the mechanism was established by using Solidwork software.The position and orientation characteristics,degree of freedom and coupling degree of the mechanism were analyzed according to the theory of position and orientation characteristics.The inverse kinematics solution of the mechanism was solved.A new numerical analysis method was used to analyze the workspace of the mechanism.The structural parameters of 3UPU parallel mechanism were optimized based on Fruit Fly Optimization Algorithm(FOA).The results show that the 3UPU parallel mechanism has a large workspace and the workspace has a void.The optimized parameters provide a basis for the prototype development and trajectory planning.
作者
刘震
LIU Zhen(Department of Chemical Engineering,Hulunbuir Vocational Technical College,Hulunbuir Inner Mongolia 021008,China)
出处
《机床与液压》
北大核心
2020年第9期55-60,共6页
Machine Tool & Hydraulics
关键词
并联机构
方位特征集(POC)
工作空间
参数优化
Parallel mechanism
Position and orientation characteristics
Workspace
Parameter optimization
