并联机器人工作空间分析与结构优化

Workspace analysis and structure optimization of parallel robot

以3-TPT并联机器人作为研究对象,建立了并联机构的运动学逆解和约束结构的运动学正解,给出了连杆和铰链极限约束条件的表达式。然后运用数值法获得工作空间点的集合,并根据并联机器人的实际应用环境,确定有效工作空间的定义,最后以有效工作空间体积最大为目标,基于并联机器人的基础结构尺寸,对连杆长度和约束结构转角范围进行优化,结果表明优化后的有效工作空间体积约是初始体积的1.5倍。

In this paper,3-TPT parallel robot is taken as the research object,the inverse kinematics solution of the parallel mechanism and the forward kinematics solution of the constraint structure are established,and the expressions of the limit constraints of the connecting rod and hinge are given.Then,the set of workspace points is obtained by numerical method,and the definition of effective workspace is determined according to the actual application environment of parallel robot.Finally,aiming at the maximum volume of effective workspace,the length of connecting rod and the rotation range of restraint structure are optimized based on the basic structure size of parallel robot.The results show that the optimized volume of effective workspace is about 1.5 times of the initial volume.