【作者】 张义凤； 姚郁；

【Author】 ZHANG Yi-feng, YAO Yu (Control & Simulation Center, Harbin Institute of Technology, Harbin 150080, China)

【机构】 哈尔滨工业大学控制与仿真中心；

【摘要】 对用于仿真实验的六自由度并联机构的驱动速度性能进行了优化设计研究。以6-UPS并联机构为研究对象,以加权雅可比矩阵的H∞范数最小为优化指标,在工作空间和结构参数变化范围的约束下,建立了基于全局疆动速度性能指标的结构参数优化设计模型,并对6-UPS并联机构的结构参数进行了优化计算,使得经过优化设计的并联机构在保证达到动平台最大角位移和最大角速度要求的前提下,所需的连杆驱动速度最小。更多还原

【Abstract】 Based on the optimal articular velocities, the inverse kinematic design of 6-DOF parallel manipulators was proposed. By the inverse kinematic analysis, the H∞ norm of the weighted Jacobian matrix was adopted as the performance index, and then the optimal design problem was formulated to find a manipulator geometry that minimizes the global performance index with the constraints of the workspace and structural parameters limits. Simulation results indicate that the articular velocities of the optimal manipulators are minimum while the kinematic requirements of the moving platform are satisfied.更多还原