Dynamics Optimization Design of Planar 3-DOF Parallel Mechanism

Abstract

Abstract:

The mapping of velocity and acceleration from joint space to work space was established for a planar 3-DOF parallel mechanism. The mechanism’s dynamics equation was given based on Kane’s method. Several global performance

indicators were proposed, which were competent for representing the mechanism’s dynamics performance in the whole design space. The mechanism met to the requirements of design space through imposing geometric constraints to scale parameter of the mechanism. The optimization design of the mechanism’s scale parameter is realized and the optimal scale parameter of different performance indicators is gained based on the global dynamics performance indicators.

Key words: parallel mechanism, global performance indicator, optimization design, dynamics

摘要：

建立了平面三自由度并联机构的关节空间对工作空间的速度和加速度映射关系。基于凯恩方法导出了机构的动力学方程。提出了几种能够代表机构在整个设计空间动力学性能的全局性能指标。通过对机构的尺度参数施加几何约束条件,从而满足了机构对设计空间的要求。基于全局动力性能指标,以机构在预定的设计空间内动力性能最优为目标,实现了机构尺度参数的优化设计,得到了不同性能指标的最优尺度参数,兼顾了机构对工作空间和动力学性能两个方面的要求。

关键词:

并联机构;全局性能指标;优化设计;动力学

CLC Number:

TH112]

LU Kai-Jiang, SHI Dun-Beng, ZHANG Feng-Chao.

Dynamics Optimization Design of Planar 3-DOF Parallel Mechanism

[J]. J4, 201016, 21(16): 1926-1931.

鲁开讲, 师俊平, 张锋涛.

平面三自由度并联机构动力学优化设计

[J]. J4, 201016, 21(16): 1926-1931.

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