摘要
针对并联机构设计过程复杂、设计周期长等问题,对6-HUS并联机构运动学逆解及相关参数的优化进行了研究。建立了运动学逆解方程并得到解析解,应用ADAMS软件进行参数化建模并仿真;通过解析解和模拟解的对比,验证模型的正确性;根据性能要求,以滑块最大速度最低为目标对机构结构尺寸进行了优化设计。分析结果表明:该方法方便快捷,缩短了设计周期,降低了产品成本,为同类机构的设计提供了较为精确的实用方法。
In order to solve the problems that parallel mechanism motion process is complicated,the design period is long and etc.,this paper researches inverse kinematics resolution and related parameter optimization about 6-HUS parallel mechanism.Firstly,inverse kinematics solution equations are established and the analytical solution is obtained.Secondly,parameterization modeling and simulation are done based on ADAMS software.By comparing the analytical solution with the simulation solution,the validity of the model is verified.Lastly,according to the known performance index,institutional structure size is optimized by taking the slider maximum speed to be minimum as the goal.The analysis results show that this method is convenient,shortens the design period,reduces the cost of product and provides a comparatively accurate and practical design method for the similar kind of mechanism.
出处
《机械设计》
CSCD
北大核心
2011年第12期26-30,共5页
Journal of Machine Design
关键词
6-HUS并联机构
位置逆解
参数化建模
优化设计
6-HUS parallel mechanism inverse positions solution parameterization modeling optimal design
