月壤采样试验验证机构运动性能研究
发布时间：2018-11-08 21:01
【摘要】：为开展月壤采样试验,设计了一种可以实现姿态调整的3自由度并联机构,根据机构运动特点,采用修正的KG(Kutzbach-Grübler)公式计算机构的自由度,利用封闭矢量法求解该机构位置逆解,并建立机构速度、加速度和可操作度性能评价指标。提出一种基于速度性能与可操作度性能为目标,采用多目标遗传算法优化机构结构参数,对优化后的结构参数进行分析,得到该机构工作空间、速度性能、奇异性和可操作度性能。研究表明:动平台姿态α、β在-0.35~0.35 rad时,机构速度性能最好;可操作度性能指标均在[4,5]区间范围内,不会产生奇异位形,有较好的可操作性能,验证该机构能够满足月壤采样试验功能要求,对开展月壤采样试验验证具有一定的实用价值。
[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 伪 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.
【作者单位】： 重庆大学机械传动国家重点实验室;中国空间技术研究院;
【基金】：国家自然科学基金项目(U1530138)
【分类号】：TH112
本文编号：2319669
[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 伪 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.
【作者单位】： 重庆大学机械传动国家重点实验室;中国空间技术研究院;
【基金】：国家自然科学基金项目(U1530138)
【分类号】：TH112
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，本文编号：2319669
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