角度与运动约束下串联式机械臂工作空间求解与结构优化

Workspace Solution and Structure Optimization of Tandem Manipulator with Angle and Motion Constraints

深水作业机械臂通常采用串联式结构,机械臂每个关节的转动角度与长度会受到相应的限制,这些参数会直接影响到机械臂的运动轨迹规划和作业效率。机械臂的有效工作空间的求解是一个多目标多约束的优化问题。通过数学分析建立机械臂的运动学模型,分析影响有效工作空间的相关参数,利用图解法来分析机械臂工作空间的边界曲线,得到机械臂的有效工作空间的截面。针对机械臂有效工作空间的截面积建立数学解析模型,最后运用遗传算法求得满足约束条件下的机械臂有效工作空间最优解和能够实现高效作业的最优结构参数。仿真结果表明,该模型能够有效求解角度与运动约束下的串联式机械臂结构优化问题。

Deep-water operating manipulator usually adopts tandem structure,and the rotation angle and length of each joint of the manipulator are also constrained accordingly.Those structural parameters will directly affect the trajectory planning of manipulator and undermine operational efficiency.The effective workspace of a manipulator is multi-objective and multi-constraint optimization problem.The kinematics model of the manipulator is established through mathematical analysis,and corresponding parameters affecting the effective workspace are analyzed.The boundary curve of manipulator's workspace is analyzed by graphic method,and the cross-sectional areas of effective workspace of mechanical arms is obtained.Based on cross-sectional areas of effective workspace of mechanical arms,analytic mathematics model was established.Finally,the genetic algorithm is used to obtain the optimal solution of the effective workspace of mechanical arms subjected to the constraint conditions and the optimal structural parameters can gain operation efficiency.The results show that the model can effectively solve the structural optimization problems of parallel axis tandem manipulators with angle and motion constraints.