Optimal design of a 6-DOF motion simulator based on formulating dynamic index

被引：0

作者：

Liu, Guojun ^{[1
]}

Zheng, Shutao ^{[1
]}

Liu, Xiaochu ^{[2
]}

Han, Junwei ^{[1
]}

机构：

[1] Harbin Inst Technol, Sch Mechatron Engn, Harbin 150000, Heilongjiang, Peoples R China

[2] Harbin Univ Sci & Technol, Coll Mech & Power Engn, Harbin 150080, Heilongjiang, Peoples R China

来源：

AUTOMATIC MANUFACTURING SYSTEMS II, PTS 1 AND 2 | 2012年 / 542-543卷

关键词：

Gough-Stewart Platform; 6-DOF Motion Simulator; Dynamic Dexterity Index; Optimal Design; Condition Number; Real-Coded Genetic Algorithms; PARALLEL MANIPULATORS; KINEMATIC ISOTROPY;

D O I：

10.4028/www.scientific.net/AMR.542-543.985

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Gough-Stewart platform (GSP) has been extensively used as motion simulators. In order to get good performance of the motion simulators, the dynamic characteristics are needed to be considered in the design process. This paper established a dynamic dexterity index based on the generalized mass matrix in the joint space, which is invariant under the change of units and has a physical meaning. The dynamic dexterity indexes can also be established in the similar way as other parallel robots with the only pure active joints. In the last, a motion simulator is optimized based on the dynamic dexterity index to satisfy the customer's requirements by using real-coded genetic algorithms.

引用

页码：985 / +

页数：2

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