中文摘要：

研究了4-UPS-UPU五自由度空间并联机构的弹性动力学优化设计。基于KED方法建立了并联机构的弹性动力学模型,以并联机构运动过程中5个驱动杆的最大变形能和最大动应力限制条件作为约束方程,将机构的总质量函数和基频函数整合成一个综合优化目标函数,分别采用fmincon函数和遗传算法进行优化设计,确定了并联机构动平台质量和5个驱动杆截面积的最佳参数值,验证了以上优化方法和优化结果的正确性与合理性。

英文摘要：

The elasto-dynamics optimal design of 4 -UPS- UPU 5 -DOF spatial parallel mechanism was studied. The elasto-dynamic models of 4- UPS- UPU spatial parallel mechanism were established based on kineto-elasto dynamics. The total mass function and base frequency function of the parallel mechanism were integrated into a comprehensive optimization objective function, and the restrictive condition of the maximum deformation energy and the maximum dynamic stress of five driving limbs were considered as constraint equations to perform the optimal design. The optimized methods, such as fmincon function in matlab software and genetic algorithms were usedrespectively. The optimal parameters of the mass of moving platform and the sectional area of five driving limbs were determined based on the optimal design. And the correctness and rationality of the optimized method and results were verified.