Global optimization design method based on single-leaf hyperboloid isotropic parallel mechanism

An isotropic, globally optimized technology, applied in computing, special data processing applications, instruments, etc., to solve problems such as reduced control performance and inability to achieve full dynamic isotropy

Inactive Publication Date: 2016-03-23
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

However, the strong coupling between each degree of freedom of the parallel mechanism will lead to a serious decrease in control performance
Complete dynamic isotropy means that the parallel mechanism not only achieves decoupling but also its modes are completely equal. Due to the constraints of the actual load inertia parameters, the standard Stewart parallel mechanism cannot achieve complete dynamic isotropy

Method used

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  • Global optimization design method based on single-leaf hyperboloid isotropic parallel mechanism
  • Global optimization design method based on single-leaf hyperboloid isotropic parallel mechanism
  • Global optimization design method based on single-leaf hyperboloid isotropic parallel mechanism

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Experimental program
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Effect test

Embodiment 1

[0098] Step 1: Determine System Configuration

[0099] According to the load characteristic M t , to calculate the median Jacobian matrix J that satisfies complete dynamic isotropy lx0 .

[0100] Load characteristic M t =[430043004300410041006700].

[0101] The calculation process of each parameter is as follows:

[0102] Choose the throat radius ratio n=1.

[0103] r 1 = r 2 =0.8826,k a1 =k a2 =0.8165,k c1 =k c2 =0.5774, a 1z =a 2z =0.7510

[0104] pick angle

[0105] J lx 0 = - 0.4082 0.7071 0.5774 - 0.2762 - 0 . 7479 0.7207 ...

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Abstract

The invention discloses a hyperboloid isotropic parallel mechanism global optimization design method. A hyperboloid parallel mechanism is adopted, limits on load inertia parameters are eliminated, and complete isotropy is realized. On the basis, global modal sensitivity indexes used for measuring global work space modal changing degrees are proposed and serve as optimizing targets, and specific parameter design of the parallel mechanism is realized by optimizing structural parameters. By the aid of the parallel mechanism, complete decoupling and dynamic isotropy of a control center are realized, and optimal performances of the global work space inside are guaranteed. By the aid of the method, defects that a conventional six-degree-of-freedom parallel mechanism cannot realize complete isotropy are eliminated, complete decoupling and excellent dynamic features of the parallel mechanism are realized, complex control strategies are not required to research for improving control performances in industrial applications, and industrial application cost is reduced.

Description

technical field [0001] The invention relates to the field of structural design and optimization, in particular to a global optimization design method for an isotropic parallel mechanism based on a single leaf hyperboloid. Background technique [0002] Parallel mechanism has been widely used in the industrial field due to its advantages of high rigidity, stable structure and strong bearing capacity. However, the strong coupling between each degree of freedom of the parallel mechanism will lead to a serious decrease in control performance. Complete dynamic isotropy means that the parallel mechanism not only achieves decoupling but also its modes are completely equal. Due to the constraints of the actual load inertia parameters, the standard Stewart parallel mechanism cannot achieve complete dynamic isotropy. In order to obtain high-performance control quality, scholars at home and abroad have proposed a compound single-leaf hyperboloid type parallel mechanism that can satisfy...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 田体先姜洪洲佟志忠何景峰
Owner HARBIN INST OF TECH
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