Optimal design of a 6-DOF motion simulator based on formulating dynamic index

Guojun Liu, Shutao Zheng, Xiaochu Liu, Junwei Han

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Gough-Stewart platform (GSP) has been extensively used as motion simulators. In order to get good performance of the motion simulators, the dynamic characteristics are needed to be considered in the design process. This paper established a dynamic dexterity index based on the generalized mass matrix in the joint space, which is invariant under the change of units and has a physical meaning. The dynamic dexterity indexes can also be established in the similar way as other parallel robots with the only pure active joints. In the last, a motion simulator is optimized based on the dynamic dexterity index to satisfy the customer's requirements by using real-coded genetic algorithms.

源语言英语
主期刊名Automatic Manufacturing Systems II
985-988
页数4
DOI
出版状态已出版 - 2012
已对外发布
活动2nd International Conference on Advanced Engineering Materials and Technology, AEMT 2012 - Zhuhai, 中国
期限: 6 7月 20126 7月 2012

出版系列

姓名Advanced Materials Research
542-543
ISSN(印刷版)1022-6680

会议

会议2nd International Conference on Advanced Engineering Materials and Technology, AEMT 2012
国家/地区中国
Zhuhai
时期6/07/126/07/12

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