【摘要】 提出了一种新型并联机床的最优轨迹规划方法,其过程是在参数空间进行轨迹规划,再将参数空间的运动轨迹映射到关节空间。在轨迹规划中,以雅可比矩阵条件数的倒数作为适应度函数,利用遗传算法优化了并联机床的多余自由度。仿真计算结果表明:最优轨迹规划方法既能给出并联机床加工过程中的灵巧构型,又可使得并联机床获得平稳的运动性能。更多还原

【Abstract】 A new trajectory planning method for a new type parallel machine tool is proposed in this paper. This method plans trajectory in parameter space first, then the trajectory is mapped into joint space. The redundant degree of freedom of parallel machine tool is optimized with genetic algorithm, and the reciprocal of condition number of jacobian matrix is chosen as adapation degree function. Results of simulation and calculation show that this method can gain not only dexterious configuration but also steady kinematic characteristic.更多还原