Tricept机器人的尺度综合方法研究

OPTIMAL DIMENSIONAL SYNTHESIS OF TRICEPT ROBOT

Tricept机器人是目前商业上最为成功的并联机器人之一。提出一种Tricept机器人中三自由度并联机构的最优尺度综合方法。该方法首先导出尺度参数间的关系,其次构造一种均衡条件数全域均值及其极差间矛盾的综合操作性能指标,进而将尺度综合问题归结为一类双参数优化问题。该方法对掌握这类及其他并联机构的运动学设计理论有一定指导意义。

Tricept robot is one of the most successfully commercialized parallel kinematic machines. An approach for the optimal dimensional synthesis of Tricept robot is presented. Given the prescribed workspace, this approach allows the independent design parameters to be achieved in a time effective manner by optimizing a global performance index in terms of the mean value and the extreme difference of the condition number of the Jacobian matrix throughout the entire workspace. The results of optimization obtained by this approach verify the validity of the existing machines, which thereby might also provide a useful tool for the optimal design of the other parallel kinematic machines with different structural topology.