摘要
针对机器人速度同性指标、灵巧度指标和全域性能波动指标的不足,提出一种改进的全域综合性能指标来综合评价机器人的运动性能,该指标可更全面的评价机器人运动学性能。采用单变量分析法,逐个分析了关键部件尺寸变化对这里所述6R串联机构全域综合性能指标的影响规律,得到尺寸变化对其性能的影响趋势。基于改进后的全域综合性能评价指标,利用遗传算法求得了6R串联机构运动性能较好的尺寸。该研究为机器人关键部件尺寸的选取提供了理论依据。
An improved global comprehensive performance index was proposed to evaluate the kinematic performance of the robot aiming at the shortcomings of the speed index,dexterity index and global performance fluctuation index of the robot. This performance index can evaluate the kinematic performance of the mechanism more comprehensively. The single variable analysis method was used to analyze the kinematic performance of the robot. Based on the improved global comprehensive performance evaluation index,the size of 6 R serial mechanism with better performance is obtained by genetic algorithm, which provides a theoretical basis for the size selection of key components of the robot. Theoretical analyses above provide a basis for its manufacturing and applications in the future work.
作者
王学雷
张宾
冯志新
吕世霞
WANG Xue-lei;ZHANG Bin;FENG Zhi-xin;LV Shi-xia(Beijing Polytechnic,Beijing 100176,China;College of Engineering,China Agricultural University,Beijing 100083,China)
出处
《机械设计与制造》
北大核心
2021年第12期201-204,209,共5页
Machinery Design & Manufacture
基金
国家重点研发计划项目—农特产品智能化收获机理研究与新结构研发(2016YFD0701501)
北京电子科技职业学院科技重点项目—一种新型四自由度并联机器人运动控制技术研究(2019Z002-009-KXB)。
关键词
机器人
灵巧度指标
遗传算法
串联机构
Robot
Dexterity Index
Genetic Algorithm
Serial Mechanism
