并联机构六维控制器的运动学性能分析及尺度优化

针对一种含子闭环3-5RUU并联机构的六维控制器进行运动学性能分析和尺度参数优化。首先用附加传感器的方法计算3-5RUU并联机构运动学正解,并求得了唯一解;其次建立了运动学逆解模型,根据运动学逆解,建立了工作空间的约束条件,通过MATLAB编程对机构进行了定姿态的工作空间分析;然后采用单一变量分析法得到了并联机构尺度参数与定姿态工作空间的关系;最后以工作空间最大为优化目标,利用遗传算法优化了机构杆长参数,使六维控制器的有效工作空间更大。结果表明:六维控制器的工作空间提高到原来的3倍以上。

Kinematics Performance Analysis and Scale Optimization of Parallel Mechanism Six-Dimensional Controller

The performance analysis and dimension parameter optimal design is carried out on a six-dimensional controller of the 3-5RUU parallel mechanism with sub closed-chains.Firstly,a method for calculating the kinematics positive solution of 3-5RUU parallel mechanism with additional sensors is proposed,and the unique solution is obtained.Secondly,the kinematics inverse solution model is established based on the kinematics positive solution.Then the constraint conditions of workspace are established based on the inverse kinematics equation,and the fixed attitude workspace is analyzed in MATLAB.The relationship between the dimensional parameters of the parallel mechanism and the fixed attitude workspace is obtained by the single variable analysis method.Finally,the maximum workspace is optimized and good institutional scale parameters are obtained using the genetic algorithm.The results show that the workspace of six-dimensional controller is increased by more than three times.