少自由度并联机构尺度参数的多目标优化研究.pdfVIP

ABSTRACT ABSTRACT Recently researchers and engineers have paid more attention to lower-mobility parallel manipulators which have advantages in its simple structure and easily controlled. When the lower-mobility parallel manipulator is been used for engineering applications, designers are most concerned about the multiple performance of the parallel manipulator. As we know, for a certain kind of parallel manipulator, these performances of the parallel manipulator have closed related to the dimensional design. For these reasons, the multi-objective optimum designing is very important for a lower-mobility parallel manipulator’s application. This thesis focuses on research of the multi-objective optimum dimensional design for the 3-PRS parallel manipulator. Firstly, using the screw theory we analysis the degree of freedom for the parallel manipulator’s motion platform. Using the model of 3-PRS, I present the calculation of the performance index of workspace and manipulability. Considering that the motion platform has one translational and two rotational degrees of motion (DOF), I present the calculation of translational manipulability and rotational dexterity. Considering the manufacturing tolerances on the dimensions of the links, I present a calculation index value the robust of performances index. This thesis studies the solving methods for multi-objective optimization problems, and design a memetic solving algorithm whic