陈修龙,孙先洋,邓昱.5自由度空间并联机构运动学优化设计[J].农业机械学报,2014,45(6):303-307.
Chen Xiulong,Sun Xianyang,Deng Yu.Kinematics Optimum Design of a 5-DOF Spatial Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(6):303-307.
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5自由度空间并联机构运动学优化设计   [下载全文]
Kinematics Optimum Design of a 5-DOF Spatial Parallel Mechanism   [Download Pdf][in English]
投稿时间:2013-07-13  
DOI:10.6041/j.issn.1000-1298.2014.06.046
中文关键词:  并联机构  空间  运动学  优化设计
基金项目:国家自然科学基金资助项目(51005138)、山东省优秀中青年科学家科研奖励基金资助项目(BS2012ZZ008)、山东科技大学杰出青年基金资助项目(2011KYJQ102)和江苏省数字化制造技术重点建设实验室开放课题资助项目(HGDML-1104)
作者单位
陈修龙 山东科技大学 
孙先洋 山东科技大学 
邓昱 山东科技大学 
中文摘要:定义了一种能综合评价不同位形下并联机构灵巧度的指标——平方平均灵巧度系数,分别考察了4-UPS-RPS空间并联机构的定平台和动平台上铰链点的分布角、定平台铰链点分布圆的半径以及动平台铰链点分布圆的半径对平方平均灵巧度系数的影响规律,并据此对这些参数进行优化设计,得到该并联机构定平台铰链点的均布角为π/2,动平台铰链点的均布角为2π/5,定平台上第1个铰链点到定坐标系原点的距离为650 mm,定平台上其余4个铰链点分布圆的半径为800 mm,动平台上铰链点分布圆的半径为160 mm。仿真结果表明,经过优化设计,4-UPS-RPS空间并联机构的平方平均灵巧度系数指标比优化前明显增大,运动学性能得到了较大改善。
Chen Xiulong  Sun Xianyang  Deng Yu
Shandong University of Science and Technology;Shandong University of Science and Technology;Shandong University of Science and Technology
Key Words:Parallel mechanism  Spatial  Kinematics  Optimum design
Abstract:The square mean dexterity coefficient, which is used to comprehensively evaluate the dexterity of various configurations, is introduced. The influence law of the structural parameters, including the distribution position angle of the joints on the stationary platform and moving platform, the distribution position radius of the joints on the stationary platform, and the distribution position radius of the joints on the moving platform, on the square mean dexterity coefficient are discussed. On these grounds, the structural parameters are optimized. The optimal results obtained are as following, the distribution position angle of the joints on the stationary platform is π/2, the distribution position angle of the joints on the moving platform is 2π/5, the distance between the first joint on the stationary platform and the center of the stationary platform is 650 mm, the distribution position radius of the joints on the stationary platform is 800 mm, and the distribution position radius of the joints on the moving platform is 160 mm. The simulation results show that the square mean dexterity coefficient of 4-UPS-RPS parallel mechanism are creased, so that the obvious improvement of the kinematics characteristics for the parallel mechanism is realized.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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