[1]张立勋,宋达,李来禄,等.柔索驱动并联机构工作空间算法与布局优化[J].哈尔滨工程大学学报,2018,39(12):2017-2024.[doi:10.11990/jheu.201708036]
 ZHANG Lixun,SONG Da,LI Lailu,et al.Workspace algorithm and layout optimization of parallel mechanisms driven by flexible cables[J].hebgcdxxb,2018,39(12):2017-2024.[doi:10.11990/jheu.201708036]
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
39
期数:
2018年12期
页码:
2017-2024
栏目:
出版日期:
2018-12-05

文章信息/Info

Title:
Workspace algorithm and layout optimization of parallel mechanisms driven by flexible cables
作者:
张立勋 宋达 李来禄 薛峰
哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001
Author(s):
ZHANG Lixun SONG Da LI Lailu XUE Feng
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
柔索驱动并联机构力螺旋可行工作空间布局优化空间算法结构矩阵完全约束冗余约束
分类号:
TP24
DOI:
10.11990/jheu.201708036
文献标志码:
A
摘要:
为了研究不同的工作空间对机构性能评价的准确性和柔索布局对工作空间的影响,本文给出了完全约束和冗余约束柔索并联机构的力螺旋可行工作空间判断条件,即需要同时具备结构矩阵满秩、结构矩阵零空间元素大于0和柔索拉力具有根据实际情况确定的最大最小值限制;推导了力螺旋可行工作空间算法,并且采用8柔索6自由度并联机构进行验证;提出了8柔索并联机构布局方案并进行了工作空间仿真分析,确定新的布局方案对提高柔索并联机构工作空间的有效性。采用提出的算法对新布局方案的柔索与末端执行器铰接点位置进行优化,确定了最佳铰接点位置。结果表明:力螺旋可行工作空间相比于力螺旋封闭工作空间对机构性能评价更准确;布局方案比典型布局方案的力螺旋可行工作空间点数提升约19%。

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备注/Memo

备注/Memo:
收稿日期:2017-8-15。
基金项目:国家自然科学基金面上项目(61773007,61175128).
作者简介:宋达(1989-),男,博士研究生;张立勋(1962-),男,教授,博士生导师.
通讯作者:宋达,E-mail:songda@hrbeu.edu.cn.
更新日期/Last Update: 2018-12-01