• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (13): 35-41.

• 论文 • 上一篇    下一篇

复合单叶双曲面上广义Gough-Stewart并联机构加速度传感器各向同性优化设计

佟志忠;姜洪洲;何景峰;黄其涛   

  1. 哈尔滨工业大学机电工程学院
  • 发布日期:2014-07-05

Optimal Design of Acceleration Sensor Based on Generalized Gough-Stewart Parallel Manipulator Lying on Pair of Circular Hyperboloids

TONG Zhizhong;JIANG Hongzhou;HE Jingfeng;HUANG Qitao   

  1. School of Mechatronics Engineering, Harbin Institute of Technology
  • Published:2014-07-05

摘要: 并联机构可作为六维加速度传感器的结构敏感元件,其各向同性特性直接影响测量精度及控制性能,然而满足标准Gough-Stewart并联机构加速度各向同性的负载物理上并不存在,为此提出基于广义Gough-Stewart并联机构的六维加速度传感器设计问题。通过引入具有最小结构几何参数描述集的复合单叶双曲面定义及描述,推导并建立数学描述封闭、解析的设计方法,证实广义Gough-Stewart并联机构加速度各向同性的存在性和可应用性。所提出的技术路线几何意义清晰,易于实现广义Gough-Stewart并联机构的构造及分类,是一种研制基于并联机构的六维加速度传感器结构构型的新方法。

关键词: 各向同性;广义Gough-Stewart并联机构;复合单叶双曲面;加速度传感器;优化设计

Abstract: A parallel manipulator is a better solution to be used as the contracture sensitive element for a six-dimensional acceleration sensor, and its isotropy directly affects the measuring accuracy and control performance. A traditional Gough-Stewart parallel manipulator is impossible to achieve complete isotropy because the payload is restricted rigorously and does not exist in physics. Therefore, it is proposed to solve this problem by using a generalized Gough-Stewart parallel manipulator(GGSPM). The concept and description of a pair of circular hyperboloids are introduced to define and generate a generalized Gough-Stewart parallel manipulator with the minimal and independent parameters, and the close-formed and analytical formulations of acceleration isotropy are derived. The results prove that the acceleration isotropy for a GGSPM can be achieved and mechanically feasible. The proposed routine has geometric meaning and can be used to generate and classify generalized Gough-Stewart parallel manipulators, which is a novel method to design the configuration of a parallel manipulator based six-dimensional acceleration sensor.

Key words: isotropy;generalized Gough-Stewart parallel manipulators;a pair of circular hyperboloids;acceleration sensor;optimal design

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