基于遗传算法的机械臂工作空间参数优化研究

Optimization research of manipulator workspace parameters based on genetic algorithm

针对小型串联机器人的工作空间结构参数问题,提出了基于旋转截面积和截面能耗指标的机械臂结构优化方法。该方法在现有的串联机器人机构基础上,运用同步带传动特点,将各关节处的驱动电机安装在机器人下部机箱座中。在最大回转半径不变的情况下,利用遗传算法优化机械臂的相关参数,优化后机器人旋转截面的臂长长度相应地减少;截面能耗降低;工作空间相对增大;机器人结构紧凑。试验结果表明该优化方法可行有效。

Aiming at the workspace structural parameters problem of small serial robot, A mechanical arm structural optimization method was proposed based on spin cross-sectional area and section energy consumption indicators. On the basis of the existing serial robot mechanism, each driving motor at the joint was installed in the robot bottom box at the bottom of robot using the synchronous belt transmission characteristics. In the case of constant maximmn turning radius, the relative parameters of mechanical arm were optimized using genetic algorithm. The rotation section arm length of optimized robot decreased accordingly, as well as the section energy consumption. The working space was relatively increased, and the structure of robot was compact. The experimental results showed that the optimization method was feasible and effective.