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dc.contributor.author周结华
dc.contributor.author彭侠夫
dc.date.accessioned2016-05-17T02:45:41Z
dc.date.available2016-05-17T02:45:41Z
dc.date.issued2015-8-15
dc.identifier.citation机床与液压,2015,(15):18-22+32
dc.identifier.issn1001-3881
dc.identifier.otherJCYY201515003
dc.identifier.urihttps://dspace.xmu.edu.cn/handle/2288/105934
dc.description.abstract在建立空间三自由度冗余驱动并联机构HESSIAn矩阵的基础上,研究空间三自由度冗余驱动并联机构的加速度全域性能指标。在预设工作空间内,绘制加速度全域性能指标图谱。通过观察图谱,分析加速度全域性能指标随并联机构尺寸参数变化的分布规律。结果表明:ηA的最大值为0.803 7,即加速度性能指标最优,对应的结构参数为l_1=3.0 M,l_2=4.0 M,l_3=0.5 M,l_4=3.0 M;加速度性能指标好的空间三自由度冗余驱动并联机构组型主要集中在2.5 M≤l_1≤3.0 M,3.5 M≤l_2≤4.0 M,0.5 M≤l_3≤1.0 M,2.5 M≤l_4≤3.0 M的区域。
dc.description.abstractThe acceleration global performance index of spatial three degree-of-freedom parallel manipulator with redundant actuator was researched by Hessian matrix.The performance atlas was drawn in the default workspace.The geometry size distribution law of spatial three degree-of-freedom parallel manipulator with redundant actuator was analyzed,and the optimal size range under acceleration global performance index was established by the performance atlas.The results show that the best acceleration global performance indexηais 0.803 7 and the corresponding structure parameters are l_1= 3.0 m,l_2= 4.0 m,l_3= 0.5 m,l_4= 3.0 m,furthermore the good acceleration global performance areas are 2.5 m≤l_1≤3.0 m,3.5 m≤l_2≤4.0 m,0.5 m≤l_3≤1.0 m,2.5 m≤l_4≤3.0 m.
dc.description.sponsorship江西省青年自然科学基金项目(20151BAB217022); 江西省教育厅青年科学基金项目(GJJ14549); 南昌航空大学博士启动金项目(EA201204428)
dc.language.isozh_CN
dc.subject冗余驱动
dc.subject并联机构
dc.subject加速度
dc.subject性能指标
dc.subjectRedundant actuator
dc.subjectParallel manipulator
dc.subjectAcceleration
dc.subjectPerformance index
dc.title空间三自由度冗余驱动并联机构的加速度性能指标分析
dc.title.alternativeAcceleration Performance Index Analysis of Spatial 3-Dof Parallel Manipulator with Redundant Actuator
dc.typeArticle


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