| 新型三自由度并联机器人奇异位形研究 |
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| 引用本文： | 刘延斌,王秀全. 新型三自由度并联机器人奇异位形研究[J]. 机械设计与制造, 2009, 0(2) |
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| 作者姓名： | 刘延斌 王秀全 |
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| 作者单位： | 河南科技大学,机电工程学院,洛阳,471003 |
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| 基金项目： | 天津市自然科学基金，河南省教育厅自然科学基金 |
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| 摘 要： | 针对一种新构型的3-RRRT并联机器人奇异位形进行了研究,提出了一种建立运动学模型与研究奇异位形的方法,利用并联机器人支链中支杆的方向余弦和动平台绝对位置坐标为系统广义坐标的方法,推导了机构运动学模型和计算奇异位形的条件方程,在此基础上,提出运用浮点遗传算法和拟牛顿法相结合的混合遗传算法在MATLAB上编制奇异位形仿真程序,得到3-RRRT并机器人奇异位形分布情况,此结论对3-RRRT并联机构的运动控制及轨迹规划有重要意义.
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| 关 键 词： | 并联机器人 奇异位形 广义坐标 浮点遗传算法 拟牛顿法 |
Rearch on the singular configuration of the novel 3-DOF parallel manipulator |
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| LIU Yan-bin,WANG Xiu-quan. Rearch on the singular configuration of the novel 3-DOF parallel manipulator[J]. Machinery Design & Manufacture, 2009, 0(2) |
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| Authors: | LIU Yan-bin WANG Xiu-quan |
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| Affiliation: | College of Mechanical Engineering;University of Scinece and Technology He'nan;Luoyang 471003;China |
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| Abstract: | The problem of singular configuration in a novel character of 3-RRRT parallel manipulator was worked over.A new method of kinematic modeling and singular configuration was presented.By using a method which took supporting bar orientation cosine and motion plaform absolute station coordinates of the 3-RRRT parallel mechanism as system's generalized coordinates,kinematic motion and reduced formulation to judge singular configuration of the 3-RRRT parallel mechanism was set up.Hence hybrid genetic algorithm ba... |
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| Keywords: | Parallel mechanism Singular configuration Generalized coordinates Hybrid genetic algorithm Quasi-Newton interations |
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