光学精密工程2012，Vol.20Issue(6)：1233-1242,10.DOI:10.3788/OPE.20122006.1233
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
摘要
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 l1min ,l1max 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
并联机械腿/驱动静力传递分析/约束静力传递分析/性能评价/优化设计Key words
parallel mechanical leg/ statics analysis of actuation/ statics analysis of constraint/ performance evaluation/ optimal design分类
信息技术与安全科学引用本文复制引用
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):1233-1242,10.基金项目
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) （No.MSV-2012-10）
秦皇岛市科技支撑计划资助项目(No.201101A028) （No.201101A028）
