Standard six-degree-of-freedom parallel mechanism global optimization design method

A global optimization and design method technology, applied in computing, special data processing applications, instruments, etc., can solve problems such as control performance degradation

Inactive Publication Date: 2014-02-26
HARBIN INST OF TECH
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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

Method used

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  • Standard six-degree-of-freedom parallel mechanism global optimization design method
  • Standard six-degree-of-freedom parallel mechanism global optimization design method
  • Standard six-degree-of-freedom parallel mechanism global optimization design method

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Experimental program
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Effect test

Embodiment 1

[0071] Step 1: Determine the system Jacobian

[0072] According to the load characteristic M t , to calculate the median Jacobian matrix J that satisfies the best local dynamic isotropy l，x .

[0073] Load characteristic M t =[4300 4300 4300 4000 4000 6700].

[0074] parameter α 0 , β 0 , γ, r satisfy the conditions:

[0075] β 0 = α 0 + π 2 γ = 0.7211 r = 1.0972

[0076] Step 2: Select optimization parameters

[0077] Given outrigger length l and damping angle α 0 Then the structural parameters of the parallel mechanism can be given, so the optimized parameters ar...

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Abstract

The invention discloses a standard six-degree-of-freedom parallel mechanism global optimization design method. With the load characteristic of a parallel mechanism considered, a standard Stewart parallel mechanism structure parameter design method meeting the requirement for local optimal dynamic isotropy is provided. On this basis, a global dynamic isotropic index is proposed based on the modal analysis theory, and specific parameter design of the parallel mechanism is achieved through optimal structure parameters with the index serving as an optimal object. By the adoption of the parallel mechanism designed with the method, complete decoupling and dynamic isotropy of a control center are achieved, and optimal performance of global work space is guaranteed. According to the standard six-degree-of-freedom parallel mechanism global optimization design method, the intrinsic coupling property of the parallel mechanism is eliminated through structural design, the performance of the parallel mechanism is improved, and therefore requirements for complicated control strategies of the parallel mechanism in order to improve control performance are reduced in industry.

Description

technical field [0001] The invention relates to the field of structural design and optimization, in particular to a global optimization design method for a standard six-degree-of-freedom parallel mechanism. 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. Dynamic isotropy is the most comprehensive index to measure the performance of parallel mechanisms because it considers the quality and stiffness characteristics of parallel mechanisms at the same time. At present, scholars at home and abroad have proposed a variety of structural design and optimization methods for parallel mechanisms based on dynamic To solve the problem of local dynamic isotropy, and for the parallel mechanism with a large workspace, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
Inventor 田体先姜洪洲佟志忠何景峰
Owner HARBIN INST OF TECH
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