OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS

被引：0

作者：

HE Guangping WANG Fengxiang School of Mechanical and Electrical Engineering

机构：

来源：

Chinese Journal of Mechanical Engineering | 2007年 / 03期

基金：

中国国家自然科学基金;

关键词：

Parallel mechanisms Overactuated Optimization synthesis Isotropy;

D O I：

暂无

中图分类号：

TB114.1 [运筹学的应用];

学科分类号：

1201 ;

摘要：

Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mecha-nism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimiza-tion is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm.

引用

页码：34 / 38

页数：5