摘要
根据3-RRRT并联机构特点,运用并联机构支链中支杆的方向余弦和动平台绝对位置坐标为系统广义坐标的方法,推导了机构运动学模型和奇异位形时的条件方程。运用浮点遗传算法和拟牛顿法相结合的混合遗传算法在MATLAB上编制奇异位形仿真程序,给出了机构奇异位形空间的图形,并分析机构奇异分布规律。
According to characters of 3-RRRT parallel mechanism, based on a method which takes supporting bar orientation cosine and motion platform absolute station coordinates of the 3-RRRT parallel mechanism as system＇ s generalized coordinates, the kine- matic motion and reduced formulation to judge singular configuration of the 3-RRRT parallel mechanism was set up. Hybrid genetic algorithm based on the floating genetic algorithm and quasi-Newtoninterations was used to work out simulation program of singular congfiguration, the figure of singular congfuguration was presented, and the mechanism singular distributing law was analyzed.
出处
《机床与液压》
北大核心
2008年第8期34-36,共3页
Machine Tool & Hydraulics
基金
天津市自然科学基金资助项目(05YFJMJC04900)
河南省教育厅自然科学计划项目(200616004)
关键词
并联机构
奇异位形
拟牛顿法
混合遗传算法
Parallel mechanism
Singular configuration
Quasi-Newtoninterations
Hybrid genetic algorithm
