论文标题
高度冗余桁架样平行操纵器的内部姿势的指标和优化
Metrics and Optimization of Internal Poses for Highly Redundant Truss-Like Serialized Parallel Manipulators
论文作者
论文摘要
本文介绍了一个序列化的Stewart平台的运动学定义，该平台旨在自动空间内组件，称为汇编器。汇编体系结构描述了过度驱动的混合运动学系统的反向运动学固有的问题。本文还提出了一种优化姿势的方法。为了使用汇编系统来实现此目的，开发了一种用于找到其逆运动学解决方案的算法，并使用包装器开发了用于最小化每个执行器所产生的力量的非线性优化算法的包装器。将汇编器的模拟版本放入许多代表性姿势中，并优化了位置。这些优化的结果是根据执行力，平台的到达性以及对高付费结构组装功能的适用性讨论的。
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated mixed kinematic systems. This paper also presents a methodology for optimizing poses. In order to accomplish this with the Assembler system, an algorithm for finding a feasible solution to its inverse kinematics was developed with a wrapper for a nonlinear optimization algorithm designed to minimize the magnitude of forces incurred by each actuator. A simulated version of an Assembler was placed into a number of representative poses, and the positions were optimized. The results of these optimizations are discussed in terms of actuator forces, reachability of the platform, and applicability to high-payload structure assembly capabilities.
