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灵活工作空间是并联机构的一个重要指标,文中以平面三自由度柔索驱动并联机构为研究对象,讨论如何获得灵活工作空间较优的构型。首先建立平面柔索驱动并联机构的静力学模型,然后给出了灵活工作空间的计算方法和数值算例。最后以灵活工作空间为目标,以柔索驱动静平台连接点的位置为优化参数,利用遗传优化算法对构型参数进行优化。通过比较优化前后两种构型发现,优化后构型的灵活工作空间的面积大为提高。
Flexible working space is an important indicator of parallel mechanism. In this paper, the plane three-degree-of-freedom flexible driving parallel mechanism is taken as the research object, and how to obtain a better flexible working space configuration is discussed. Firstly, the static model of the parallel mechanism driven by planar cable is established. Then, the calculation method and the numerical example of the flexible workspace are given. Finally, aiming at the flexible working space, the position of connecting points of the static platform with soft cable is taken as the optimization parameters, and the genetic algorithm is used to optimize the configuration parameters. By comparing the two configurations before and after optimization, it is found that the area of the flexible workspace with the optimized configuration is greatly increased.