基于电机性能参数的高速并联机构集成优化设计

项目名称： 基于电机性能参数的高速并联机构集成优化设计

项目编号： No.51475320

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 梅江平

作者单位： 天津大学

项目金额： 83万元

中文摘要： 随着机器人在工业应用领域的不断拓展，对工业机器人本体的速度、精度、刚度和动态特性等要求越来越高。因此，高速并联机构开始引起工业界及学术界的广泛关注，并逐渐成为近些年来的主要研究热点。本项目密切结合工业自动化行业对于高速并联机械的需求，针对一类2-、3-、4自由度高速并联机械手，研究高速并联机构的集成设计理论与方法。建立一套可指导该类机构尺度参数优化的动力学评价指标体系，在完成机构伺服电机选型工作的基础上，依据电机性能参数，利用所提出的动力学评价指标，深入研究该类并联机构的集成尺度参数优化设计方法，形成适合此类机构的新型设计理论体系。开发一套集成优化设计平台，以指导该类机构的设计与建造。建立该类高速并联机械手样机，深入开展样机性能检测,进而为开发该类高速并联机械手产品奠定理论与技术基础，推动其理论和工程应用。这将对促进并联机器人机构学基础理论研究、丰富我国并联机构技术的工程应用起到重要作用。

中文关键词： 高速并联机构；动力学评价指标；伺服电机性能；尺度参数；集成优化设计

英文摘要： With the widely applications of industrial robots, the demands of speed, precision, rigidity and dynamic performance of them become much more important, which leads to the great development of high-speed parallel robots. Driven by those urgent needs in fields of industrial automation where high-speed parallel robots are the essential requirements, this project mainly studies on the integrated design methods of 2-, 3-, and 4-DOF high-speed parallel manipulators. The group intends to propose a series of dynamic performance indices which could guide the optimization of dimensional parameters of these three kinds of manipulators. On the basis of completing the selection of servo motors, according to the performance parameters of them, using the proposed dynamic performance indices to investigate integrated optimal design methods of high-speed parallel manipulators, then a novel design system suitable for these parallel mechanisms will be set up. To facilitate the design of 2-, 3-, and 4-DOF high-speed parallel manipulators, an integrated platform will be developed to guide the design of these parallel mechanisms. A prototype of 4-DOF high-speed parallel manipulator will be built and tested in order to verify the rationality of the methods. This project will contribute to the theory and technology for the development of high-speed parallel manipulators and promote the engineering application of them. It will also play an important role in promoting the basic theory research and enriching the original technology application of parallel mechanisms in our country.

英文关键词： high-speed parallel Mechanisms;dynamic performance indices;servo motor performance;dimensional parameters;integrated optimal design