郭宗环,谢志江,郑燕红,齐凯,袁岳军,吴小勇.月壤采样试验验证机构运动性能研究[J].农业机械学报,2016,47(8):406-412.
Guo Zonghuan,Xie Zhijiang,Zheng Yanhong,Qi Kai,Yuan Yuejun,Wu Xiaoyong.Kinematic Performance of Mechanism for Lunar Soil Sampling Test[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(8):406-412.
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月壤采样试验验证机构运动性能研究   [下载全文]
Kinematic Performance of Mechanism for Lunar Soil Sampling Test   [Download Pdf][in English]
投稿时间:2016-05-09  
DOI:10.6041/j.issn.1000-1298.2016.08.053
中文关键词:  采样试验  并联机构  运动性能  封闭矢量法  多目标遗传算法
基金项目:国家自然科学基金项目(U1530138)
作者单位
郭宗环 重庆大学 
谢志江 重庆大学 
郑燕红 中国空间技术研究院 
齐凯 重庆大学 
袁岳军 重庆大学 
吴小勇 重庆大学 
中文摘要:为开展月壤采样试验,设计了一种可以实现姿态调整的3自由度并联机构,根据机构运动特点,采用修正的K-G(Kutzbach-Grübler)公式计算机构的自由度,利用封闭矢量法求解该机构位置逆解,并建立机构速度、加速度和可操作度性能评价指标。提出一种基于速度性能与可操作度性能为目标,采用多目标遗传算法优化机构结构参数,对优化后的结构参数进行分析,得到该机构工作空间、速度性能、奇异性和可操作度性能。研究表明:动平台姿态α、β在-0.35~0.35rad时,机构速度性能最好;可操作度性能指标均在[4,5]区间范围内,不会产生奇异位形,有较好的可操作性能,验证该机构能够满足月壤采样试验功能要求,对开展月壤采样试验验证具有一定的实用价值。
Guo Zonghuan  Xie Zhijiang  Zheng Yanhong  Qi Kai  Yuan Yuejun  Wu Xiaoyong
Chongqing University,Chongqing University,China Academy of Space Technology,Chongqing University,Chongqing University and Chongqing University
Key Words:sampling test  parallel mechanism  movement performance  closed vector method  multi-objective genetic algorithm
Abstract:In order to launch the lunar soil sampling test, a novel parallel mechanism of three degrees of freedom was designed and analyzed for the position and orientation adjustment. According to characteristics in movement of the mechanism, the freedom degree of mechanism was calculated by the modified K-G (Kutzbach-Grübler) formula after the analysis and calculation, the mechanism has a total of 3 degrees of freedom with 2 rotation and vertical movement, and the inverse solution of the kinematics problem was solved by adopting the closed vector method. The evaluation indexes of performance in velocity, acceleration and dexterity of the mechanism were established. A multi-objective genetic algorithm was proposed to optimize the structural parameters of the mechanism based on the performance of velocity and dexterity. The working space and singularity as well as performance in velocity and dexterity of the mechanism could be obtained after analyzing the optimized structural parameters. Results showed that the performance in velocity was excellent under the condition that α and β of the moving platform were moved in the range of -0.35~0.35rad and the maximum value of the velocity performance index of the sampling test mechanism will appear in this range. The results also showed that the singularity would not appear when the performance indexes in dexterity were in the range of [4,5] and the mechanism had good movement performance and the operation velocity of the attitude of the moving platform in the characteristic direction and be satisfied. All the analysis results proved that the mechanism can meet the requirements of lunar soil sampling test and it had certain reference value for development of lunar soil sampling test.

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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