| 基于Stewart平台的6-SS并联天平结构优化设计 |
| |
| 引用本文： | 姚裕,吴洪涛,张召明,李鹭扬.基于Stewart平台的6-SS并联天平结构优化设计[J].南京航空航天大学学报,2004,36(4):466-470. |
| |
| 作者姓名： | 姚裕 吴洪涛 张召明 李鹭扬 |
| |
| 作者单位： | 1. 南京航空航天大学机电学院,南京,310016
2. 南京航空航天大学航空宇航学院,南京,210016 |
| |
| 基金项目： | 国家自然科学基金 ( 5 0 3 75 0 71 )资助项目，江苏省自然科学基金 ( BK2 0 0 3 0 91 )资助项目，南京航空航天大学青年科研基金资助项目 |
| |
| 摘 要： | 良态的雅可比矩阵决定并联机构的性能，并决定了其结构参数是否合理。本文利用矩阵的F-范数研究一种新颖的并联天平力雅可比矩阵，以力雅可比矩阵的条件数为目标函数进行并联天平结构优化设计，推导出优化目标函数以5个基本结构参数表达的解析式。利用数值解法求出目标函数关于过渡变量的最小值，并用矩阵2-范数加以验证，找到8种保证并联天平精度的优化结构。该法同时也为六维力／力矩传感器的性能指标评价及其结构优化提供很好的借鉴。
|
| 关 键 词： | Stewart平台 天平结构 优化设计 并联机构 力雅可比矩阵 |
| 文章编号： | 1005-2615(2004)04-0466-05 |
| 修稿时间： | 2003年8月27日 |
Optimal Architecture Design of 6-SS Parallel Balance Based on Stewart Platform |
| |
| YAO Yu,WU Hong-tao,ZHANG Zhao-ming,LI Lu-yang.Optimal Architecture Design of 6-SS Parallel Balance Based on Stewart Platform[J].Journal of Nanjing University of Aeronautics & Astronautics,2004,36(4):466-470. |
| |
| Authors: | YAO Yu WU Hong-tao ZHANG Zhao-ming LI Lu-yang |
| |
| Institution: | YAO Yu~1,WU Hong-tao~1,ZHANG Zhao-ming~2,LI Lu-yang~1 |
| |
| Abstract: | The condition number of Jacobian matrix of parallel wind tunnel balance is studied by the F-norm based on a novel force Jacobian matrix, the condition number is used as an objective function to design an optimal parallel balance, and the analytical relationship derived between the objective function and the five elementary architectural parameters. The minimum of the objective function about intermediate variables is provided by using numerical method validated by the two-norm of the force Jacobian matrix, and the derived result is used to achieve eight optimal architectures for good parallel balance accuracy, which also provides a better method for the evaluation of the performance index and architecture optimization for the six axis force/torque sensor. |
| |
| Keywords: | Stewart platform optimal design parallel balance force Jacobian matrix objective function |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
