五自由度并联机械腿静力学性能评价与优化设计

荣誉; 金振林

doi:10.3788/OPE.20122006.1233

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五自由度并联机械腿静力学性能评价与优化设计

微纳技术与精密机械 | 更新时间：2020-08-12

- 五自由度并联机械腿静力学性能评价与优化设计
- Static performance evaluation and optimal design of 5-DOF parallel mechanical leg
- 光学精密工程 2012年20卷第6期页码：1233-1242
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 河北科技师范学院,河北秦皇岛,066004
- 作者简介：
- 基金信息：
  
  机械系统与振动国家重点实验室开放课题基金资助项目(No. MSV-2012-10)();秦皇岛市科技支撑计划资助项目(No.201101A028)()
- DOI：10.3788/OPE.20122006.1233
  中图分类号： TP242.6
- 收稿日期：2012-02-24，
  
  修回日期：2012-03-10，
  
  网络出版日期：2012-06-10，
  
  纸质出版日期：2012-06-10
- 稿件说明：
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荣誉, 金振林. 五自由度并联机械腿静力学性能评价与优化设计[J]. 光学精密工程, 2012,20(6): 1233-1242

RONG Yu, JIN Zhen-lin. Static performance evaluation and optimal design of 5-DOF parallel mechanical leg[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1233-1242
荣誉, 金振林. 五自由度并联机械腿静力学性能评价与优化设计[J]. 光学精密工程, 2012,20(6): 1233-1242 DOI： 10.3788/OPE.20122006.1233.

RONG Yu, JIN Zhen-lin. Static performance evaluation and optimal design of 5-DOF parallel mechanical leg[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1233-1242 DOI： 10.3788/OPE.20122006.1233.

摘要

为了对一种六足机器人的五自由度并联机械腿进行静力学性能评价和优化设计

提出了一种同时考虑约束力映射关系和驱动力映射关系的腿部机构静力学分析方法

并基于此方法对机械腿进行了优化设计。首先

通过分析腿部机构的驱动、约束映射关系

分别建立了腿部机构的驱动雅可比矩阵和约束雅可比矩阵;应用虚功原理建立了腿部机构的驱动静力传递平衡方程

在定义驱动静力学评价指标的基础上绘制了评价指标分布图

得出了结构参数与驱动静力评价指标之间的关系曲线。然后

采用同样的方法建立了腿部机构的约束静力传递平衡方程

定义了约束静力学性能评价指标

得出了结构参数与约束静力评价指标之间的关系曲线。最后

基于驱动、约束静力学性能评价指标

采用蒙特卡罗法对结构参数进行了优化设计。计算表明

固定平台结构参数

为200 mm、运动平台结构参数

为80 mm

UPU支链长度l

1min

、l

1max

分别为500 mm、900 mm时

腿部机构的静力学综合性能最好。

Abstract

To evaluate the static performance and design optimally a parallel mechanical leg for the six-legged robot

a static analysis method based on the mapping of both constraint and actuation forces was proposed

and the mechanical leg was designed based on this method. Firstly

the constraint and actuation Jacobian matrixes were established based on the mapping of both constraint and actuation. Then

according to the virtual work principle

the actuation statics transmission equation was established

the performance evaluation indexes of actuation statics were designed

and the relationship curve between the performance evaluation index and structure parameters was calculated. By the same way

the transmission equation and performance evaluation index of constraint statics were obtained

and the relationship curve between the performance evaluation index and structure parameters was also calculated. Finally

based on the performance evaluation indexes both of constraint and actuation statics

the structure parameters were optimally designed by Monte Carlo method. Calculations show that when the structure parameters of a fixed platform and a movement platform are 200 mm

and 80 mm and the UPU branched chain lengths l

1min

1max

are 500 mm and 900 mm

the statics comprehensive performance of the parallel mechanical leg is the best. These studies lays the theoretical foundation for further study of the six-legged robot.

关键词

Keywords

references

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