量化六自由度并联机构工作空间的六维超椭球体计算方法及其应用

doi:10.7527/S1000-6893.2015.0190

Abstract

Abstract:

A method to quantify the workspace of 6-DOF parallel manipulator using six-dimensional hyperellipsoid is proposed based on structural optimization requirements of helmet mounted display servo system. The method is made up of two parts:the calculation of two-dimensional circling ellipse and the computation of the corresponding hyperellipsoid. The former part is developed firstly, and the definition of circling ellipse and the corresponding conceptions are also proposed, such as modification step of the center and the longitudinal axis of circling ellipse, the modification factor of the axes' length of circling ellipse, etc. The dynamic modifications of the center and axes length of circling ellipse are implemented, and the accuracy and intellectual ability of the method are improved. The adjustment coefficients of modification step above are adopted to ensure the convergence of the calculation. Secondly, the conditions and methods to identify circling ellipse are developed, and the method of computing hyperellipsoid based on fifteen circling ellipse is also proposed. Finally, example to verify the validity of the novel method is developed, and the feasibility and practicability of the proposed method in workspace optimization are also tested. It is pointed out that circling ellipses calculated satisfy the identification conditions above, and the validity of the proposed method is better. Hyperellipsoid describing target workspace is contained completely by the other one which inscribes the workspace of optimization result, so the proposed method is feasible and practical for workspace optimization of 6-DOF parallel manipulator.

Key words: 6-DOF parallel manipulator, workspaces, circling ellipse, hyperellipsoid, driving simulation

CLC Number:

V216.8

LI Peng, WU Dongsu, ZHENG Yan, SHI Zheng, JIN Xingyue. Calculation method and application of 6-D hyperellipsoid quantifying workspace of 6-DOF parallel manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(12): 4001-4013.

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Calculation method and application of 6-D hyperellipsoid quantifying workspace of 6-DOF parallel manipulators

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