关键词: Hexapod平台, 参数设计, 优化

Abstract: The problem of deign optimization for Hexapod parameters in engineering applications is studied in this article. The radiuses of the upper and bottom plates of the Hexapod platform are selected as design variables. The kinematic constraints, including the extensions of the manufactured leg actuators, turn angles of hinges, and interference condition between struts, are discussed, and the interference constraint is simplified in the process. In addition, the upper and lower bounds of the design variables, the moving ranges in single translation or rotation degrees of freedom are also considered as constraints. The objective function is expressed as a weighted representation of workspace, carrying capacity and kinematic solution precision measurements. A model of parameter optimization is thus established, which is solved with genetic algorithm. Numerical simulations show that the parameteroptimized Hexapod platform satisfies all the engineering requirements. Compared with the cubic configuration Hexapod of the same leg length, the designed Hexapod has obvious advantages in workspace and carrying capacity. Consequently, the validity and practicability of the parameter optimization method are testified.

Key words: Hexapod platform, parameter design, optimization