中文摘要：

针对工程应用中的Hexapod平台参数设计优化问题进行研究。Hexapod的上下平台半径被选作设计变量，同时分析了其运动约束条件，包括杆作动器的伸缩范围，铰链转角，作动杆间的干涉条件等，其中对杆间干涉约束进行了简化处理。此外，设计变量上下限、各平移或转动自由度上的行程要求等也被作为约束考虑。目标函数以工作空间、承载能力和运动逆解精度等量度的加权形式表示，由此建立了参数优化问题的模型，该问题用遗传方法求解。数值仿真表明，经参数优化后的Hexapod平台满足所有考虑的工程要求；对比等杆长的Cubic构形Hexapod，所设计的Hexapod平台在工作空间、承载能力方面具有明显优势，从而证明了该参数优化方法的有效性和实用性。

英文摘要：

The problem of deign optimization for Hexapod parameters in engineering applications is studied in this article. The radiuses of the upper and bottom plates of the Hexapod platform are selected as design variables. The kinematic constraints, including the extensions of the manufactured leg actuators, turn angles of hinges, and interference condition between struts, are discussed, and the interference constraint is simplified in the process. In addition, the upper and lower bounds of the design variables, the moving ranges in single translation or rotation degrees of freedom are also considered as constraints. The objective function is expressed as a weighted representation of workspace, carrying capacity and kinematic solution precision measurements. A model of parameter optimization is thus established, which is solved with genetic algorithm. Numerical simulations show that the parameter-optimized Hexapod platform satisfies all the engineering requirements. Compared with the cubic configuration Hexapod of the same leg length, the designed Hexapod has obvious advantages in workspace and carrying capacity. Consequently, the validity and practicability of the parameter optimization method are testified.