【摘要】：為開(kāi)展月壤采樣試驗(yàn),設(shè)計(jì)了一種可以實(shí)現(xiàn)姿態(tài)調(diào)整的3自由度并聯(lián)機(jī)構(gòu),根據(jù)機(jī)構(gòu)運(yùn)動(dòng)特點(diǎn),采用修正的KG(Kutzbach-Grübler)公式計(jì)算機(jī)構(gòu)的自由度,利用封閉矢量法求解該機(jī)構(gòu)位置逆解,并建立機(jī)構(gòu)速度、加速度和可操作度性能評(píng)價(jià)指標(biāo)。提出一種基于速度性能與可操作度性能為目標(biāo),采用多目標(biāo)遺傳算法優(yōu)化機(jī)構(gòu)結(jié)構(gòu)參數(shù),對(duì)優(yōu)化后的結(jié)構(gòu)參數(shù)進(jìn)行分析,得到該機(jī)構(gòu)工作空間、速度性能、奇異性和可操作度性能。研究表明:動(dòng)平臺(tái)姿態(tài)α、β在-0.35~0.35 rad時(shí),機(jī)構(gòu)速度性能最好;可操作度性能指標(biāo)均在[4,5]區(qū)間范圍內(nèi),不會(huì)產(chǎn)生奇異位形,有較好的可操作性能,驗(yàn)證該機(jī)構(gòu)能夠滿足月壤采樣試驗(yàn)功能要求,對(duì)開(kāi)展月壤采樣試驗(yàn)驗(yàn)證具有一定的實(shí)用價(jià)值。
[Abstract]:In order to carry out the lunar soil sampling experiment, a 3-DOF parallel mechanism is designed to realize attitude adjustment. According to the kinematic characteristics of the mechanism, the modified KG (Kutzbach-Gr 眉 bler) formula is used to calculate the degree of freedom of the mechanism. The inverse position solution of the mechanism is solved by the closed vector method, and the performance evaluation indexes of velocity, acceleration and operational degree of the mechanism are established. Based on the performance of velocity and maneuverability, a multi-objective genetic algorithm is proposed to optimize the structure parameters of the mechanism. The structure parameters after optimization are analyzed, and the workspace and velocity performance of the mechanism are obtained. Singularity and operability. The results show that the velocity performance of the mechanism is the best when the attitude 偽 and 尾 of the moving platform are -0.35 ~ 0.35 rad; The performance index of operability is in the range of [4 ~ (5)], it will not produce singular configuration, and has good maneuverability. It is proved that the mechanism can meet the functional requirements of lunar soil sampling test. It has certain practical value to carry out lunar soil sampling test.
【作者單位】： 重慶大學(xué)機(jī)械傳動(dòng)國(guó)家重點(diǎn)實(shí)驗(yàn)室;中國(guó)空間技術(shù)研究院;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(U1530138)
【分類(lèi)號(hào)】：TH112

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