| OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS |
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| 作者姓名： | HE Guangping WANG Fengxiang School of Mechanical and Electrical Engineering North China University of Technology Beijing China LU Zhen School of Automation Science and Electrical Engineering Beihang University Beijing China |
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| 作者单位： | HE Guangping WANG Fengxiang School of Mechanical and Electrical Engineering，North China University of Technology，Beijing 100041，China LU Zhen School of Automation Science and Electrical Engineering，Beihang University，Beijing 100083，China |
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| 基金项目： | 国家自然科学基金
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北京市自然科学基金 |
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| 摘 要： | Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mecha-nism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimiza-tion is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm.
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| 关 键 词： | 平行机制 最佳化合成 各向同性 无向性 |
OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS |
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| HE Guangping WANG Fengxiang School of Mechanical and Electrical Engineering,North China University of Technology,Beijing ,China LU Zhen School of Automation Science and Electrical Engineering,Beihang University,Beijing ,China.OPTIMAL SYNTHESIS OF PLANAR 4 LIMBS 3-DOF OVERACTUATED PARALLEL MECHANISMS[J].Chinese Journal of Mechanical Engineering,2007,20(3):34-38. |
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| Authors: | HE Guangping WANG Fengxiang LU Zhen |
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| Affiliation: | [1]School of Mechanical and Electrical Engineering,North China University of Technology, Beijing 100041, China [2]School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China |
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| Abstract: | Optimal synthesis of a 3-DOF 4 limbs planar parallel mechanism with actuated redundancy is studied. The kinematics equation of the mechanism is developed and the topology of the mechanism is classified. The kinematics and force properties of the mechanisms according to the topologies are compared. Furthermore, a global optimizing formulation is derived from the condition number that is a local index usually used to scaling the manipulability isotropy quantitatively. The optimization is solved by genetic algorithm. The numerical results show that the topology of the mechanisms can influence the kinematics and force property considerably, and the manipulation dexterity of the mechanisms can be improved distinctly by the given formulations and the suggested optimization algorithm. |
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| Keywords: | Parallel mechanisms Overactuated Optimization synthesis Isotropy PARALLEL MECHANISMS LIMBS PLANAR SYNTHESIS manipulation dexterity improved formulations optimization algorithm numerical results show influence property genetic algorithm global optimizing derived condition number local index |
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