| 一种新型并联机床的最优轨迹规划 |
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| 引用本文： | 范守文,徐礼钜,甘泉. 一种新型并联机床的最优轨迹规划[J]. 电子科技大学学报(社会科学版), 2003, 0(1) |
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| 作者姓名： | 范守文 徐礼钜 甘泉 |
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| 作者单位： | 四川大学制造科学与工程学院 成都610065(范守文)，电子科技大学机械电子工程学院 成都610054(徐礼钜)，四川大学制造科学与工程学院 成都610065(甘泉) |
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| 摘 要： | 提出了一种新型并联机床的最优轨迹规划方法,其过程是在参数空间进行轨迹规划,再将参数空间的运动轨迹映射到关节空间。在轨迹规划中,以雅可比矩阵条件数的倒数作为适应度函数,利用遗传算法优化了并联机床的多余自由度。仿真计算结果表明:最优轨迹规划方法既能给出并联机床加工过程中的灵巧构型,又可使得并联机床获得平稳的运动性能。
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| 关 键 词： | 并联机床 轨迹规划 遗传算法 多余自由度 |
Optimal Trajectroy Planning for New Type Parallel Machine Tool |
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| Fan Shouwen Xu Liju Gan Quan. Optimal Trajectroy Planning for New Type Parallel Machine Tool[J]. Journal of University of Electronic Science and Technology of China(Social Sciences Edition), 2003, 0(1) |
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| Authors: | Fan Shouwen Xu Liju Gan Quan |
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| Affiliation: | Fan Shouwen1 Xu Liju2 Gan Quan1 |
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| Abstract: | A new trajectory planning method for a new type parallel machine tool is proposed in this paper. This method plans trajectory in parameter space first, then the trajectory is mapped into joint space. The redundant degree of freedom of parallel machine tool is optimized with genetic algorithm, and the reciprocal of condition number of jacobian matrix is chosen as adapation degree function. Results of simulation and calculation show that this method can gain not only dexterious configuration but also steady kinematic characteristic. |
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| Keywords: | parallel machine tool trajectory planning genetic algorithm redunant degree of freedom |
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