摘要
针对服务机器人六自由度模块化机械臂,对其结构尺寸参数进行优化分析。定义机械臂工作空间全局可操作度指标,建立位姿坐标系,结合机械臂的逆解计算出位姿可达度,提出机械臂全局可操作度指标。以该指标的最大值作为优化目标,应用遗传算法对机械臂的连杆尺寸参数进行优化,得到优化后的连杆尺寸和全局可操作度并绘制出优化前后的机械臂工作空间操作能力地图。仿真结果表明:优化后的机械臂全局可操作度明显提高,对比工作空间能力地图,进一步验证了机械臂尺寸优化算法的有效性。
Aiming at the six-DOF manipulator of service robot, the structure size parameters are optimized and analyzed. The global manipulability index of the manipulator workspace is defined, the coordinate system of the position and attitude is established, and the reachability of the position and attitude is calculated with the inverse solution of the manipulator, and the global manipulability index of the manipulator is proposed. Taking the maximum value of this index as the optimization target, the size parameters of the connecting rod of the manipulator are optimized by genetic algorithm, the size of the optimized connecting rod and the global operational degree are obtained, and the operational ability map of the manipulator workspace before and after optimization is drawn. The simulation results show that the global maneuverability of the optimized manipulator is obviously improved, and the validity of the size optimization algorithm is further verified by comparing the workspace capability map.
作者
李宪华
石雪松
吕磊
张雷刚
宋韬
Li Xianhua;Shi Xuesong;Lu Lei;Zhang Leigang;Song Tao(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2019年第12期2569-2574,共6页
Journal of System Simulation
基金
国家自然科学基金(61803251)
安徽高校自然科学研究重点项目(KJ2016A200)
安徽省科技重大专项(16030901012)
安徽省重点研究与开发计划项目(201904a05020092)
关键词
机械臂
全局可操作度
遗传算法
尺寸优化
manipulator
global maneuverability
genetic algorithm
size optimization
