少自由度并联机构约束空间与构型性能映射规律及评价指标研究

项目名称： 少自由度并联机构约束空间与构型性能映射规律及评价指标研究

项目编号： No.51275479

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 陈巧红

作者单位： 浙江理工大学

项目金额： 80万元

中文摘要： 少自由度并联机构已被成功应用为我国急需的高端航空制造装备的主机构，研究其机构学基础科学问题尺度综合对于装备的自主创新具有重要意义。NSFC机械工程学科发展报告（2010-2020）指出，现有少自由度并联机构尺度综合中，"仅将与运动空间对应的指标作为评价测度，而缺乏对与约束空间对应的指标给予充分考虑"。因此，如何建立约束空间与少自由度并联机构性能之间的映射规律，提出有效的性能评价指标和优化设计方法，是当前机构学亟需回答的重要问题。 针对该问题，本项申请以螺旋理论、李群李代数、黎曼几何、凸分析为工具，重点研究少自由度并联机构增广约束空间构造方法、几何性质与不变性，建立基于黎曼度量的约束力椭球性能指标和基于凸分析的约束功率指标，给出对应优化方法，并以实验样机验证。项目研究成果将为少自由度并联机构尺度综合提供新的理论依据和方法支持，对推动我国航空结构件加工装备的自主创新具有重要作用。

中文关键词： 并联机构；螺旋理论；尺度综合；运动学分析；

英文摘要： The lower-mobility parallel mechanism (PM) has been used as main mechanism in advanced manufacturing equipment for the aviation industry, for which China is starving. It is important to study dimensional synthesis of the lower-mobility PM for independent innovation. The development report (2010-2020) provided by the mechanical enginerring division of NSFC stated that current dimensional synthesis only considers the index corresponding to motion space and neglects the index for constraint space. Hence, it is important to establish the mapping rules between constraint space and kinematic performance, and provide effective performance index and optimazation method. Using screw theory, Lie group and Lie algebra, Rieman geometry and convex analysis method, the project studies the construction method of augmented constraint space of lower-mobility PM as well as its geometrical properties and invariance. The constraint force ellipsoid index based on Rieman metric and constaint power index based on convex analysis will be established. Optimazation method will be provided. A prototype will be built for verifying. The achievements of this project will provide a new theoretical foundation and method for the dimensional synthesis of lower-mobility PMs, which is important for independent innovation of manufacturing equipm

英文关键词： parallel mechanism；screw theory；dimensional synthesis；kinematic analysis；