摘要
研究一种新型四自由度并联机器人机构的工作空间和优化设计。在三平移一转动并联平台位置反解模型基础上,分析了反解模型中约束动平台运动的因素。运用蒙特卡罗方法思想及三维网格搜索法得到机构的工作空间,分析了工作空间的几何性质。探讨了机构的全域条件数,并以它作为优化设计的目标函数。对正交试验设计法和遗传算法的寻优算法进行分析比较,提出一种设计变量多且适应度函数难求的正交—遗传试验法的优化方法,将这种方法应用于机构的优化设计中,获得优化工作空间性能的结构参数方案。实例证明这种优化方法行之有效。
The workspace and optimal design of a new-type 4-DOF parallel robot mechanism was studied. Based on the inverse resolution kinematics models of the three- transferable and one- rotational parallel kinematics platform we analyzed the factors restricting motion of the moving platform in the models. Monte Carlo method and 3-D mesh scanning procedure was used to obtain the workspace, and its geometrical properties were analyzed. The global condition index of mechanism was discussed and used as an objective function of the optimal design. Orthogonal experimental design method was compared with genetic algorithm for hunting out optimum values, and an optimum method of orthogonal - genetic algorithm testing method that was applicable in greater design variables and unmanageable fit function was presented, and was applied to optimal design of the mechanism and to obtain the optimum scheme of the mechanism＇s geometrical dimensions. The example proves the optimum method to be effective.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第18期1938-1943,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375067)
浙江省自然科学基金资助项目(Y104347)
关键词
并联机器人机构
反解模型
工作空间
优化设计
正交试验设计法
遗传算法
parallel robot mechanism
inverse resolution model
workspace
optimal design
orthogonal experimental design method
genetic algorithm
