摘要
建立了平面2自由度冗余驱动并联机器人的Hessian矩阵,将Hessian矩阵引入全域性能指标中,进行速度、加速度和灵巧度性能指标分析,给出三项指标的性能图谱,讨论结构尺寸变化对机构性能的影响。以该机器人速度、加速度和灵巧度指标为目标函数,以无奇异位形和工作空间为约束条件进行基于性能图谱的尺度综合,对不同权重优化结果的讨论为该机器人的构形设计提供了参考。
The hessian marix of a planar 2-DOF（degree-of-freedom） parallel manipulator with redundant actuation is established and introduced into the global performance indices.Three global performance indices of the manipulator involving velocity,acceleration and dexterity are analyzed,followed by the corresponding atlases.The influence of change of structural parameters on mechanism performance is discussed.Then,dimension synthesis is performed,in which the three indices of velocity,acceleration and dexterity are considered as the objective function,and workspace and free-singularity are taken as constraints.The optimal results with respect to different weighting coefficients are discussed,thus proriding valuable references for the design of the manipulator.
出处
《电子机械工程》
2010年第6期1-5,47,共6页
Electro-Mechanical Engineering
基金
教育部留学回国人员实验室基金资助项目(030401)
国家自然科学基金重点项目(10433020)
关键词
冗余驱动并联机器人
HESSIAN矩阵
性能图谱
尺度综合
parallel manipulator with redundant actuation
hessian matrix
performance atlas
dimensional synthesis
