CAJ | 학술논문

面向飞机等大型结构件高效加工的需求，提出了一种新型5坐标可重构作业单元执行机构(称之为1T2R并联动力头)的运动学分析与设计方法。首先，借助闭环矢量法构造该类3自由度并联动力头的位置逆解模型，推导量纲统一的速度雅可比矩阵。利用数值搜索法搜索该机构的可达空间，研究关键参数对工作空间的影响规律。然后，以动平台外接圆半径为参照归一化设计参数，利用量纲统一雅可比矩阵的条件数构造兼顾机构运动学性能平均水平与波动量的全域评价指标，将其作为目标函数。最后，依据工程需求及性能要求，结合工作空间分析，确定约束条件，利用灵敏度分析实现机构尺度参数的综合，并用 MATLAB 遗传算法工具箱予以验证。此研究成果可为该类1T2R并联动力头的详细机械设计奠定理论基础。
면향비궤등대형결구건고효가공적수구，제출료일충신형5좌표가중구작업단원집행궤구(칭지위1T2R병련동력두)적운동학분석여설계방법。수선，차조폐배시량법구조해류3자유도병련동력두적위치역해모형，추도량강통일적속도아가비구진。이용수치수색법수색해궤구적가체공간，연구관건삼수대공작공간적영향규률。연후，이동평태외접원반경위삼조귀일화설계삼수，이용량강통일아가비구진적조건수구조겸고궤구운동학성능평균수평여파동량적전역평개지표，장기작위목표함수。최후，의거공정수구급성능요구，결합공작공간분석，학정약속조건，이용령민도분석실현궤구척도삼수적종합，병용 MATLAB 유전산법공구상여이험증。차연구성과가위해류1T2R병련동력두적상세궤계설계전정이론기출。
This paper presents the kinematic analysis and optimal design of a parallel manipulator with three degrees of freedom associated with one translation and two rotations(1T2R),which may be applied to the high-efficient manufacturing of large aircraft structures. Firstly,the closed-loop vector method was used to establish the inverse position model,and then the homogeneous dimensional Jacobian matrix of the 1T2R parallel manipulator was ob-tained. The reachable workspace was acquired by the numerical search method,and the effect of key dimensional parameters on the workspace was demonstrated. Furthermore,the design parameters were normalized with respect to the radius of the moving platform of the 1T2R parallel manipulator. By using the condition number of the homogene-ous dimensional Jacobian matrix,a global performance index was formulated taking into account the average and the standard deviation of kinematic performance in the prescribed workspace,whose combination can be chosen as the target function of dimensional synthesis. Finally,based on the engineering requirements and the workspace analysis results,the optimized design parameters were obtained through the sensitivity analysis after determining the con-straint equations,which were verified by the genetic algorithm toolbox of MATLAB software. The researches of this paper can lay a solid foundation for more specific design of the 1T2R parallel manipulator.