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Structural parameter optimization method for six-degree-of-freedom parallel platform

An optimization method and technology of platform structure, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the size and dexterity of parallel platforms that cannot be comprehensively considered.

Active Publication Date: 2017-11-10
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0006] Aiming at the inadequacy of the existing parallel platform structure optimization technology that cannot comprehensively consider the movement space size and dexterity of the parallel platform, the present invention provides a six-degree-of-freedom parallel platform structural parameter optimization method based on a multi-objective-multi-constraint algorithm, using This method can obtain the optimal structural parameters of the six-degree-of-freedom parallel platform based on the size of the workspace and the dexterity

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  • Structural parameter optimization method for six-degree-of-freedom parallel platform
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  • Structural parameter optimization method for six-degree-of-freedom parallel platform

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Embodiment Construction

[0087] as figure 1 The six-degree-of-freedom parallel platform shown is taken as an example, and the method for optimizing the structural parameters of the six-degree-of-freedom parallel platform of the present invention is described in detail.

[0088] 1. Analysis of working space of parallel platform

[0089] figure 2 A simplified schematic diagram of the six-degree-of-freedom parallel platform is given. A 1 、A 2 、A 3 、A 4 、A 5 、A 6 Indicates that the hinge point between the moving platform and the variable-length bar is sequentially denoted by B 1 , B 2 , B 3 , B 4 , B 5 , B 6 express. The coordinate system {O 0} and the coordinate system {O 1}. coordinate system {O 0} origin O 0 is the center point of the static platform, its x-axis and y-axis are located in the plane of the static platform, and the line where the x-axis is located passes through the hinge point A 1 and A 2 The midpoint of the connecting line, its z-axis points to the opposite directi...

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Abstract

The invention discloses a structural parameter optimization method for a six-degree-of-freedom parallel platform. The structural parameter optimization method comprises the steps that firstly, the working space and the dexterity of the parallel platform are analyzed on the basis of a multi-target-multi-constraint algorithm; secondly, the constraint conditions for platform parameter optimization are analyzed by taking the working space size index and the dexterity index of the parallel platform as targets; and lastly, the process of the parameter optimization method is designed on the basis of a Monte Carlo method, and the optimal structural parameters, integrating the working space size with the dexterity, of the six-degree-of-freedom parallel platform are obtained. According to the method, the working space size and the dexterity of the six-degree-of-freedom parallel platform can be simply and intuitively described; the constraint conditions of the six-degree-of-freedom parallel platform in the structural parameter selection and optimization process are determined, the multi-target-multi-constraint algorithm for parameter optimization of the six-degree-of-freedom parallel platform is proposed, and structural parameter optimization can be conducted; the process of conducting structural parameter optimization through the Monte Carlo method is given, and the optimal structural parameters, integrating the working space with the dexterity, of the six-degree-of-freedom parallel platform can be obtained.

Description

technical field [0001] The invention relates to a method for optimizing structural parameters of a six-degree-of-freedom parallel platform. Using the method, the six-degree-of-freedom parallel platform can obtain the optimal structural parameters of the size of the comprehensive work space and dexterity, and belongs to the field of structural parameter optimization of the six-degree-of-freedom parallel platform . Background technique [0002] The six-degree-of-freedom parallel platform is a widely used parallel mechanism. It is composed of a static platform, a dynamic platform, and a variable-length rod hinged between the static platform and the dynamic platform. It can realize the six-degree-of-freedom movement of the dynamic platform in space. Including three-degree-of-freedom translation and three-degree-of-freedom rotation. The parallel platform can be used in many fields, such as satellite positioning, parallel machine tools, motion simulation, medical machinery, manuf...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1623B25J9/1661
Inventor 张帅帅刘明唐兴鹏樊铭渠朱志强李贻斌
Owner SHANDONG UNIV OF SCI & TECH
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