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提出一种基于机构奇异和运动传递性能指标的高速并联机器人运动学优化设计策略.优化设计过程分为两步:首先构造了无量纲参数设计空间,在设计空间中,研究了3-RRR机构的奇异和可用工作空间,分析了机构奇异曲线的分布特点,确定了无内部奇异的3-RRR机构的参数取值范围;然后以全局条件数为目标函数、传动角为约束,对机构的运动学参数进行优化.利用这种方法设计了3-RRR并联机器人.实验结果表明,设计的并联机器人有良好的运动传递性能.
A kinematic optimization design strategy of high speed parallel robot based on mechanism singularity and motion transfer performance is proposed. The optimization design process is divided into two steps: Firstly, a dimensionless parameter design space is constructed. In the design space, the 3-RRR mechanism Singularity and available working space, the distribution characteristics of the singularity curves of the mechanism are analyzed, and the parameter range of 3-RRR mechanism without internal singularities is determined. Then, taking the global condition number as the objective function and the transmission angle as the constraint, Parameters are optimized.Using this method, a 3-RRR parallel robot is designed.The experimental results show that the designed parallel robot has good motion transfer performance.