四关节型混联机构辅助平行四边形参数优化

Auxiliary Parallelogram Parameters Optimization of four Joint Type Mixed Structure

针对四关节型混联机构辅助平行四边形参数优化设计过程中,传统算法无法求解设计变量和目标函数之间的离散、复杂映射问题,提出了MATLAB遗传算法和GA算法相结合的求解方法。应用DH参数法建立机器人各杆件的连杆坐标系,并确定各连杆坐标系的D-H参数,进而构建机器人工作空间的目标函数。研究结果表明,设计变量取优化值无论在定性上还是定量上比取初始值所得的工作空间大。该方法利用机器人工作空间的形状特征对其进行分割和离散积分,对于开发设计其他类型机器人结构具有参考价值。

In the optimization design process of 4 joint type mixed structure＇s auxlhary parallelogram parameters, the relationship between design variables and objective function is discrete and complex, which can not be solved by the use of traditional optimization algorithm. In order to solve the problem, a new method combining MATLAB genetic algorithm and GA algorithm was been proposed. Using DH parameter method to build a robot connecting rod coordinates of each bar,and determine the D-H parameters of them, then build the objective function of robot working space. The results indicate that the optimized working space is larger than the initial space both in qualitative and quantitative. The method uses the shape of the robot working space feature of segmentation and discrete points,which do reference value in designing other types of robot structure.