- 并联机构性能分析与优化设计(英文版)(精)/智能制造与机器人理论及技术研究丛书
- - 作者：李秦川//杨超//徐灵敏//叶伟|责编:狄宝珠
  - 出版社：华中科技大学
  - ISBN：9787577201429
  - 出版日期：2023/12/01
  - 页数：296
- 售价：67.2

内容大纲
本书对各类并联机器人性能评价指标进行了深入解析，提出了综合考虑多设计目标的优化设计方法程，并通过大量案例进行验证。可作为并联机器人领域工程设计和科研人员开展性能评价和尺度优化的参考和依据。
本书既介绍了并联机器人性能评价指标的建模方法，又对优化方法与流程进行了全面的论述，通过典型机器人案例进行演示，可以为相关领域的理论研究人员提供启发。
作者介绍
目录
1  Introduction
  1.1  Research Background
  1.2  Performance Evaluation Indices
    1.2.1  Workspaces
    1.2.2  Kinematic Performance
    1.2.3  Stiffness Performance
    1.2.4  Dynamic Performance
  1.3  Optimization Algorithm
    1.3.1  Traditional Optimization Algorithms
    1.3.2  Intelligent Optimization Algorithms
    1.3.3  Ways to Improve Optimization Algorithms
  1.4  Multi-Objective Optimization Methods
    1.4.1  Comprehensive Objective Method
    1.4.2  Pareto Frontier Method
    1.4.3  PCA Method
  1.5  Summary
  References
2  Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy
  2.1  Basics of Screw Theory
  2.2  Condition Number Indices and Applications
    2.2.1  Condition Number Indices
    2.2.2  Example l: 6PSS PM
    2.2.3  Example 2: 2-(PRR)2RH PM
    2.2.4  Example 3: 2PRS-PRRU PM
  2.3  Motion/Force Transmission Indices and Applications
    2.3.1  Motion/Force Transmission Indices
    2.3.2  Example 1: 6PSS PM
    2.3.3  Example 2: 2PUR-PRU PM
    2.3.4  Example 3: 2PUR-PSR PM
  2.4  Motion/Force Constraint Indices and Applications
    2.4.1  Motion/Force Constraint Indices
    2.4.2  Example 1 : 2PUR-PRU PM
    2.4.3  Example 2: 2PUR-PSR PM
  2.5  Summary
  References
3  Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy
  3.1  Motion/Force Transmission Indices of Parallel Manipulators with Actuation Redundancy
  3.2  Example 1: 6PSS-UPS PM
  3.3  Example 2: 2UPR-2PRU PM
  3.4  Example 3: 2PUR-2PRU PM
  3.5  Summary
  References
4  Motion/Force Constraint Performance Analysis and Optimization of Overconstrained Parallel Manipulators with Actuation Redundancy
  4.1  Motion/Force Constraint Indices of Overconstrained Parallel Manipulators with Actuation Redundancy
  4.2  Example 1: 2UPR-2PRU PM
  4.3  Example 2: 2PUR-2PRU PM
  4.4  Summary
  References
5  Elastostatic Stiffness Evaluation and Optimization of Parallel Manipulators
  5.1  Stiffness Performance Evaluation Index

  5.2  Example: 2UPR-RPU PM
    5.2.1  Stiffness Modeling
    5.2.2  Stiffness Performance Optimization
  5.3  Summary
  References
6  A Methodology for Optimal Stiffness Design of Parallel Manipulators Based on the Characteristic Size
  6.1  Methodology for the Optimal Stiffness Performance Design of PMs
  6.2  Example 1: Optimal Stiffness Performance Design of the 2UPR-RPU PM
  6.3  Example 2: Optimal Stiffness Performance Design of the 2PRU-PSR PM
  6.4  Summary
  References
7  Multi-objective Optimization of Parallel Manipulators Using Game Algorithm
  7.1  Multi-objective Optimization Game Algorithm
  7.2  Example: 2UPR-RPU PM
    7.2.1  Regular Workspace Volume
    7.2.2  Motion/Force Transmissibility
    7.2.3  Stiffness Performance Evaluation
    7.2.4  Multi-objective Optimization
  7.3  Summary
  References
8  Hybrid Algorithm for Multi-objective Optimization Design of Parallel Manipulators
  8.1  Hybrid Algorithm and GPR-Based Mapping Modeling
    8.1.1  Procedure of the Hybrid Algorithm
    8.1.2  GPR-Based Mapping Model
  8.2  Example: 2PRU-UPR PM
    8.2.1  Kinematic Performance Index
    8.2.2  Stiffness Performance Index
    8.2.3  Elastodynamic Performance Index
    8.2.4  Regular Workspace Volume
    8.2.5  Multi-objective Optimization
  8.3  Summary
  References
9  Sensitivity Analysis and Multi-objective Optimization Design of Parallel Manipulators
  9.1  Sensitivity Analysis and Multi-objective Optimization
    Design Method
    9.1.1  Response Surface Model
    9.1.2  Sensitivity Analysis
    9.1.3  Multi-objective Optimization Design of PMs
  9.2  Example: Delta PM
    9.2.1  Workspace Analysis
    9.2.2  Kinematic Performance Index
    9.2.3  Dynamic Performance Index
    9.2.4  Sensitivity Analysis and Multi-objective Optimization Design of Delta PM
  9.3  Summary
  References
10  Multi-objective Optimization Design of Parallel Manipulators Based on the Principal Component Analysis
  10.1  Multi-objective Optimization of PMs Based on the Principal Component Analysis
  10.2  Example 1: 3RPS PM
    10.2.1  Performance Indices of the 3RPS PM
    10.2.2  Multi-objective Optimization Design of the 3RPS PM

  10.3  Example 2: 6PSS PM
    10.3.1  Performance Indices of the 6PSS PM
    10.3.2  Multi-objective Optimization Design of the 6PSS PM
  10.4  Summary
  References
11  Multi-objective Optimization Design of Parallel Manipulators Based on the Intelligent-Direct Search Algorithm
  11.1  Intelligent-Direct Search Algorithm
    11.1.1  Introduction of Pareto Front
    11.1.2  Procedure of the Intelligent-Direct Search Algorithm
  11.2  Example: 2UPR-RPU PM
    11.2.1  Performance Indices of the 2UPR-RPU PM
    11.2.2  Multi-objective Optimization Design of the 2UPR-RPU PM
  11.3  Summary
  References

内容大纲

作者介绍

目录

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