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应用科学学报 ›› 2010, Vol. 28 ›› Issue (5): 546-550.doi: 10.3969/j.issn.0255-8297.2010.05.016

• 控制与系统 • 上一篇    

新型2T2R并联机构及其位置求解

季晔1， 刘宏昭1， 范彩霞1;2， 乔战宏1   

  1. 1. 西安理工大学机械与精密仪器工程学院，西安710048
    2. 焦作大学机电工程学院，河南焦作454150
  • 收稿日期:2010-05-07 修回日期:2010-07-19 出版日期:2010-09-26 发布日期:2010-09-26
  • 作者简介:作者简介：季晔，博士生，研究方向：机构学与并联机器人理论，E-mail: jiye_xaut@yeah.net；刘宏昭，教授，博导，研究方向：机电系 统建模、测试及控制，E-mail: liu-hongzhao@163.com
  • 基金资助:

    基金项目：西安理工大学优秀博士学位论文研究基金(No.102-210911)资助

A Novel Parallel Manipulator of 2T2R and Positional Analysis

JI Ye1, LIU Hong-zhao1, FAN Cai-xia1;2, QIAO Zhan-hong1   

  1. 1. Faculty of Mechanical and Precision Instrument Engineering, Xi’an University of Technology,
    Xi’an 710048, China
    2. College of Mechanical and Electrical Engineering, Jiaozuo University, Jiaozuo 454150，
    Henan Province, China
  • Received:2010-05-07 Revised:2010-07-19 Online:2010-09-26 Published:2010-09-26

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1792

被引次数

2

摘要：

基于五自由度4-UPU并联机构演绎出一种新型四自由度4-UPU/PPS并联机构. 通过螺旋理论分析可得，该机构具有两个移动和两个转动（two-translational and two-rotational, 2T2R）自由度，在此基础上建立了该模型的位置关系方程. 由于位置正解复杂，以机构各驱动支链长度为约束对象，建立了无约束非线性优化适应度函数. 提出一种动态变权重的多目标粒子群优化算法来搜索此函数的全局极小点，从而将位置正解问题转化为一个多目标优化问题. 随机选取20 组并联机构实际输入进行位置正解计算，计算结果与动平台实际位置和姿态吻合，解决了该机构位置正解的求解问题.

关键词: 并联机构, 粒子群优化, 位置正解, 四自由度

Abstract:

Abstract: Based on five degree-of-freedom (5-DOF) of parallel manipulator of 4-UPU, a novel spatial parallel manipulator of 4-UPU/PPS is deduced. From the theory of screw, we show that this manipulator possess 2T2R (two-translational and two-rotational) DOFs, and establish an equation of position. Since forward positional
analysis of parallel manipulator is difficult, based on the constrained length of limps, we build an unconstrained nonlinear optimization fitness function of this manipulator. The problem of forward positional analysis is thus converted to a multi-objective optimization problem that can be solved with the dynamic variable-weighting
multi-objective particle swarm optimization (PSO) algorithm which seeks the global minimum of the nonlinear optimization function. The result of 20 groups of random forward positional analysis is consistent with the actual position and orientation. Therefore the problem of forward positional analysis is solved using the
proposed parallel manipulator.

Key words: Keywords: parallel manipulator,, particle swarm optimization,, forward positional analysis, , four degree-offreedom

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