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提出了以满足6-3-3并联机构使用功能为准则的尺度综合优化建模方法,即以功能要求的任务轨迹为动平台运动规划路径,以尺度参数和任务轨迹在工作空间的定位参数为设计变量,以机构空间结构尽可能紧凑,而工作空间尽可能大为目标函数、工作空间涵盖任务轨迹、主动件移动范围和关节转角不超过设定极限值为约束,建立优化模型并通过软件编程实现该模型的求解。最后,给出了一个算例。
A scale synthesis optimization modeling method based on the function of 6-3-3 parallel mechanism is put forward. That is to say, the path of motion planning based on the functional requirements is taken as the path of motion planning. The positioning parameters of the scale parameters and task trajectories in the workspace are Design variables to make the mechanism as compact as possible and the workspace as much as possible for the objective function. The work space covers the task trajectory. The moving range of the active part and the joint rotation angle do not exceed the set limits as constraints. The optimized model is established and programmed through software To solve the model. Finally, an example is given.