论文部分内容阅读
采用雅可比矩阵条件数方法在并联机器人全域工作空间内,对影响6_PUS风洞并联支撑机器人性能指标的主要结构参数进行了优化分析。通过仿真发现该机器人动平台、球铰位置、拉杆长度、平行梁宽度等参数对其运动性能有较大的影响,总体上看6_PUS并联机器人的加速度性能要好于速度性能,而要使机器人获得最佳的综合性能,则需要对这些参数进行综合优化。通过对这些参数和性能关系之间的全面考虑,最后选定了并联机器人的主要设计参数,使机构性能达到了设计的要求。
The Jacobian matrix condition number method is used to optimize and analyze the main structural parameters that affect the performance index of 6_PUS wind tunnel parallel support robot in the global working space of parallel robot. Through the simulation, it is found that the parameters of the dynamic platform, the position of the ball joint, the length of the tie rod and the width of the parallel beam have a great influence on the movement performance. Generally speaking, the acceleration performance of the 6_PUS parallel robot is better than the speed performance, Good overall performance, you need to optimize these parameters. Through comprehensive consideration of the relationship between these parameters and performance, the main design parameters of the parallel robot are finally selected, so that the performance of the mechanism meets the design requirements.