平面2自由度并联机构动力学性能优化

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The transitive relation of velocity and acceleration of planar 2-DOF parallel mechanism between input and output was obtained by using influence coefficients. Driving torque expression of active joints was acquired through establishing dynamic equations which was based on selecting mechanism＇ s output as generalized coordinates. Then the maximum of the joint driving torque in the all design space was taken as the mechanism＇ s dynamic performance evaluation index. The sensitivity of the performance to structural pa- rameters was analyzed. In order to get the optimal structural parameters which satisfied both design space and dynamic performance, while to get the optimal dynamics performance in the scheduled design space, the constraints of structural parameters were established according to the reauirement for the design space of the mechanism.利用影响系数得出了平面2自由度并联机构输入输出之间的速度和加速度传递关系。选取机构的输出为广义坐标，建立动力学方程，得到主动关节驱动力矩的表达式，以关节驱动力矩在整个设计空间的最大值作为评价机构动力学性能的指标，分析性能指标对结构参数的灵敏度。将机构对设计空间的要求表示成对结构参数的约束，以机构在预定设计空间的动力学性能最优为目标，得到兼顾工作空间与动力学性能的最优结构参数。