Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design

作     者：Wei WANG Hua-yong YANG Jun ZOU Xiao-dong RUAN Xin FU 

作者机构：State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China 

基　　金：supported by the National Basic Research Program(973)of China(No.2006CB705400) the National Natural Science Founda-tion of China(No.50705082) the National Natural Science Fund for Distinguished Young Scholar(No.50425518),China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2009年第10卷第1期

页      码：22-30页

摘      要：We proposed an optimal design method to expand the bandwidth for the control of large hydraulic Stewart *** method is based on generalized natural frequency and takes hydraulic oil into consideration.A Lagrangian formulation which considers the whole leg inertia is presented to obtain the accurate equivalent mass *** the model,the effect of leg inertia and the influence of design parameters on the generalized natural frequency are ***,numerical examples are presented to validate and confirm the efficiency of the mathematical *** results show that the leg inertia,especially the piston part plays an important role in the *** optimum diameter ratio of the base to the moving platform is between 2 and 3,and the optimum joint angle ratio of the base to the moving platform is about *** smaller joint angles and a longer leg stroke are favorable for raising system *** system oil should be preprocessed for large platforms with a requirement for good dynamic performance.

主 题 词：Metropolis遗传算法 并联机器人 结构优化设计 智能优化设计 

学科分类：0810[工学-土木类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1631/jzus.A0820329

馆 藏 号：203619765...