基于运动学性能指标的机械手参数优化研究

Manipulator Parameter Optimization and Research Based on Kinematic Performance Index

针对现有的移摆型机械手,建立了其运动学模型;将多个性能指标构造成综合性能指标作为目标函数,以杆长为设计变量,并将机构参数和多个性能指标作为约束条件,建立了移摆型机器手优化模型;最终通过MATLAB对其进行求解优化,并与初值进行了对比和分析。

Focusing on current swinging manipulators,in this article,the kinematic model was proposed with which plenty of parameter indexes were considered.The indexes were constructed into a comprehensive performance index that was led to an objective function.In this function,the length of the rod was regarded as a designed variable,and the mechanical parameter and many performance indexes were regarded as constraint conditions,in order to establish an optimization model.Finally,the model was calculated and optimized by MATLAB and was compared with initial values.