摘要
尺度参数优化是并联机器人设计的最终目标。对研制的Delta并联机器人进行动力学分析,基于虚功原理,建立Delta并联机器人系统的动力学方程,利用奇异值分解理论,以在末端单位加速度下单轴最大输出扭矩在整个工作空间的最大值最小的动力学性能指标作为评价指标,从而获得满足设计需求的一组最优尺度参数。
Parameter optimization is the ultimate goal in the Delta robot design. Therefore, dynamics analysis is done for the Delta robot in this paper. Based on the virtual work principle, kinematic equation in the Delta robot is built, and the singular value decomposition theory is adopted. Based on the dynamic performance index that the single axle~ maximum output torque of the terminal unit acceleration in the whole workspace is minimum, a group of the optimal scaling parameters fitting the design demand is acquired. The present theory supports the theoretical basis for the physical prototype design of parallel robot.
出处
《机械科学与技术》
CSCD
北大核心
2013年第12期1780-1784,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
上海市教育委员会重点学科建设项目(J50503)资助
关键词
并联机器人
虚功原理
奇异值分解
constrained optimization
design
dynamics
Jacobian matrices
kinematics
mathematical models
matrix algebra
robots
singular value decomposition
stiffness
velocity
parallel robot
principle of virtual work
