围绕一种5自由度的4UPS⁃UPU并联机构，建立其运动学模型及雅克比矩阵，考虑机构在运动空间内的运动学性能，引入全域条件指标和全域梯度指标作为运动灵巧度的评价指标，并采用柱坐标边界极限搜索法求解工作空间，建立全域指标的数学模型；基于多学科设计优化软件Modefrontier对机构进行了多目标优化研究，采用实验设计和粒子群优化算法对机构进行了优化，求得Pareto最优解。通过优化前后结果比较，机构运动性能得到增强，为并联机构多目标优化设计提供参考。%Concerned about a 5⁃DOF parallel manipulator of 4⁃UPS⁃UPU, its kinematics mathematical model and Jacobian matrix were established. The Global Conditions Index ( GCI) and the Global Gradient Index which represented the evaluation index of dexterity were introduced in considering the kinematics performance over the whole workspace of the manipulator. The workspace was solved by using the boundary limit research method of cylindrical coordinate, and the mathematical model of the global condition number was es⁃tablished. The multi⁃objective optimization research was conducted on the basis of the multidisciplinary design optimization software Isight. The manipulator was optimized by using the Design of Experiment ( DOE) and the Particle Swarm Optimization Algorithm ( PSOA) , achieving the Pareto solutions. Moreover the optimal solution was chosen from the multi⁃optimal solutions in a reasonable manner. Through the comparison of results before and after optimization, the kinematics performance of the manipulator is enhanced, which provides reference for the multiple objectives optimal design of parallel manipulator.
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