机器人远中心柔顺手腕的参数优化

THE OPTIMUM DESIGN FOR PARAMETERS OF ROBOTIC REMOTE CENTER COMPLIANCE

在机器人准静态插销入防装配作业过程和柔顺装置刚度矩阵分析基础上，提出层叠型弹性元件被动柔顺手腕的优化设计方法．此方法把优化过程分为性能参数优化和结构参数优化两步，并使用非线性混合离散变量算法．实际算例证明此法灵活有效．

Based upon the analysis of robotic quasi--static peg in hole process and compliance device stiffness matrix an optimum design method of laminated elastomer passive RCC is presented in this paper. The nonlinear discrete and mixed variable optimization can be divided into two phases. the performance parameter optimization and the structural parameter optimization. This method is flexible and effective in practical applications.