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平面平臺型6-PSS并聯(lián)機構(gòu)構(gòu)型選擇與參數(shù)優(yōu)化
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國家自然科學(xué)基金面上項目（51575232）和上海市科委青年科技英才揚帆計劃項目（19YF1434600）


Configuration Selection and Parameter Optimization of 6-PSS Parallel Mechanism with Planar Platform
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    摘要:

    針對4種典型平面平臺型6-PSS并聯(lián)機構(gòu)構(gòu)型特點,，研究了最優(yōu)構(gòu)型選擇及其參數(shù)優(yōu)化,。建立平面平臺型6-PSS并聯(lián)機構(gòu)的運動學(xué)模型，并進行ADAMS仿真驗證,；繪制不同構(gòu)型下的平面平臺型6-PSS并聯(lián)機構(gòu)的可達工作空間圖和靈巧度分布圖,，求解工作空間體積V和全局靈巧度GCI，經(jīng)過對比分析,，構(gòu)型Ⅲ的可達工作空間范圍,、工作空間體積、靈巧度分布和全局靈巧度等性能指標均最優(yōu),，確定構(gòu)型Ⅲ為機構(gòu)的最優(yōu)構(gòu)型,；針對構(gòu)型Ⅲ分析各結(jié)構(gòu)參數(shù)對其工作空間和靈巧性的影響規(guī)律，結(jié)果表明,，在一定的結(jié)構(gòu)參數(shù)范圍內(nèi),，工作空間體積和全局靈巧度呈正相關(guān)；以工作空間體積V為目標函數(shù)進行優(yōu)化,，得到了最優(yōu)結(jié)構(gòu)參數(shù),，優(yōu)化后工作空間體積V和全局靈巧度GCI相比優(yōu)化前均有明顯提高，證明了優(yōu)化模型的正確性和有效性,，并對優(yōu)化后的機構(gòu)進行了誤差分析,，為平面平臺型6-PSS并聯(lián)機構(gòu)設(shè)計提供了依據(jù),。

    Abstract:

    The configuration selection and parameter optimization of 6-PSS parallel mechanism with planar platform were studied. According to the characteristics of 6-PSS parallel mechanism with planar platform, the essence of configuration selection was to solve layout problem of linear guides on base, and four typical configurations of 6-PSS parallel mechanism with planar platform were given. Firstly, the inverse kinematics model was established and the Jacobian matrix was derived and verified by ADAMS simulation. Secondly, in order to observe the shapes and ranges of workspace, workspace maps and their projections were drawn. Similarly, dexterity distribution diagrams were drawn to intuitively observe the distribution of dexterity. In addition, their workspace volume and global dexterity were calculated. By comparing the reachable workspace range, volume, dexterity distribution and global dexterity value of the four configurations, it was concluded that configuration Ⅲ had better performance in the above aspects. Then, for configuration Ⅲ , for the purpose of analyzing the effects of structural parameters on its workspace and dexterity. The projections of workspace corresponding to different structural parameters were drawn, and the workspace volume and the global dexterity corresponding to different structural parameters were calculated. The results showed that the workspace volume and global dexterity were positively correlated within a certain range of structural parameters, and its reasons were analyzed. Finally, the workspace volume was optimized and the optimal structural parameters were obtained. The workspace volume and global dexterity were significantly improved after optimization. And error analysis of the optimized mechanism was carried out. The research result had a strong guiding significance and reference value for the design of 6-PSS parallel mechanism with planar platform.

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王啟明,張漢祖,蔣江月,宋景,覃俊雄.平面平臺型6-PSS并聯(lián)機構(gòu)構(gòu)型選擇與參數(shù)優(yōu)化[J].農(nóng)業(yè)機械學(xué)報,2022,53(5):449-458. WANG Qiming, ZHANG Hanzu, JIANG Jiangyue, SONG Jing, QIN Junxiong. Configuration Selection and Parameter Optimization of 6-PSS Parallel Mechanism with Planar Platform[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(5):449-458.

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  • 收稿日期:2021-06-06
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  • 在線發(fā)布日期: 2022-05-10
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