基于粒子群算法的并联机器人输出力矩优化与仿真

Research on Output Torque Optimization and Simulation of Parallel Robot Based on Particle Swarm Optimization Algorithm

针对当前平面机构3自由度RRR(3-RRR)并联机器人运动输出力矩值变化范围大、机构运动不平稳等问题,以输出力矩值最小化为目标对运动机构3-RRR进行相关尺寸优化.构造了机构3-RRR动力学模型,给出了机构3-RRR的8种工作模式,简化机构模型并推导逆运动学方程式.采用粒子群算法对机构3-RRR横截面半径、连杆质量及平台质量进行优化.机构3-RRR末端执行器选择PID方案,通过MATLAB软件对优化后的机构3-RRR的8种工作模式输出力矩值进行仿真,并且与优化前形成对比.仿真显示,优化后的机构3-RRR的8种工作模式输出力矩值变化范围比优化前小,整体波动很小,运动平稳.采用粒子群算法能够减小机构3-RRR的输出力矩值,保证机构运动平稳性.

In view of the current fully planar mechanism with three degrees of freedom RRR(3-RRR)parallel robot motion output torque value varies in a large range,moving mechanism was not smooth,with output torque minimized the value of target of motion of a 3-RRR parallel mechanism related to size optimization.The mechanism 3-RRR dynamics model was constructed,and the 8 working modes of mechanism 3-RRR were given,the mechanism model was simplified and the inverse kinematics equation was deduced.The particle swarm optimization algorithm was used to optimize the 3-RRR cross section radius,the connecting rod mass and the mass of the platform.PID program was selected by Mechanism 3-RRR end actuator,through the MATLAB software,the post-optimized 3-RRR mechanism output torque values in eight kinds of working modes,were simulated,and compared with before optimization.The simulation results show that the output torque value of the eight kinds of working modes of the optimized mechanism 3-RRR is smaller than that of the optimization,the overall fluctuation is very small,and the movement is stable.The particle swarm algorithm is used to reduce the output torque of the 3-RRR mechanism and ensure the stability of the mechanism.