基于构型分岔的并联机构优化设计

对于给定的一组运动输入参数，并联机构有可能出现构型分岔。为了使机构在连杆长度范围内能够随意运动，基于构型分岔进行了并联机构优化设计。在连杆空间分析并联机构运动状态的基础上，应用杆长向量表示了六自由度并联机构的16种极限构型。为避免机构出现构型分岔，利用同伦法和静态分岔条件，分析了极限构型的分岔特性，得到连杆的长度范围。对所设计的机构进行了运动可控制条件分析，以保证机构在整个杆长范围内可以控制。

Optimal Design of Parallel Manipulator Based on Configuration Bifurcation

For a given set of motion input parameters, the parallel manipulator is possibly at the states of configuration bifurcation. In order that the parallel manipulator can move at will when the lengths of links changed in determinate regions, we optimized the mechanism by considering configuration bifurcation. Based on the idea of analyzing the movement state of parallel manipulator in link space, sixteen kinds of extreme poses for 6-DOF parallel manipulator were described with the vector expressions of link lengths. In order to avoid configuration bifurcations, the bifurcation characteristics of extreme poses were analyzed by homotopy method and static bifurcation condition. The kinematic controllable condition of the designed manipulator was analyzed, which makes the manipulator controllable in the length area of links.