一种三平移并联机器人机构的多目标优化设计
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摘要
设计了一种2RRPaR+PPaP三平移空间并联机构,推导了该机构的位置正反解方程和雅可比矩阵。以工作空间和全局灵巧度为优化目标,建立优化数学模型。以工作空间散点数目最多和全局灵巧度值最大为原则,采用差分进化算法进行优化设计,得到机构的最优参数。通过比较优化前后机构的工作空间和灵巧度值,结果表明,优化后机构的运动性能得到较大改善,为该机构的设计及应用奠定了基础。
A kind of 2 RRPaR+PPaP three translational space parallel mechanism is designed, and the forward and inverse position solutions equation and Jacobi matrix of the mechanism are derived. The optimization mathematical model is set up with the optimization goal of workspace and global dexterity. Based on the maximum number of scatter points in the workspace and the maximum dexterity, the differential evolution algorithm is used to optimize the design and get the optimal parameters of the mechanism. By comparing the workspace and dexterity of the mechanism before and after optimization, the results show that the motion performance of the optimized mechanism has been greatly improved, which laid the foundation for the design and application of the mechanism.
A kind of 2 RRPaR+PPaP three translational space parallel mechanism is designed, and the forward and inverse position solutions equation and Jacobi matrix of the mechanism are derived. The optimization mathematical model is set up with the optimization goal of workspace and global dexterity. Based on the maximum number of scatter points in the workspace and the maximum dexterity, the differential evolution algorithm is used to optimize the design and get the optimal parameters of the mechanism. By comparing the workspace and dexterity of the mechanism before and after optimization, the results show that the motion performance of the optimized mechanism has been greatly improved, which laid the foundation for the design and application of the mechanism.
引文
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[2]GOSSELIN C,ANGELES J.The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator[J].ASME Journal of Mechanisms,Transmissions,and Automation in Design,1988,110(1):35-41.
[3]KELAIAIA R,COMPANY O,ZAATRI A.Multiobjective optimization of a linear Delta parallel robot[J].Mechanism&Machine Theory,2012,50(2):159-178.
[4]刘永均,张静,李柏林.基于条件数的3-RRS并联机器人运动性能优化[J].机械设计与研究,2008,24(6):32-34.
[5]RUSSO M,HERRERO S,ALTUZARRA O,et al.Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg[J].Mechanism and Machine Theory,2018,120:192-202.
[6]赵星宇,赵铁石,云轩,等.3-P(4S)并联机构分析与多目标性能优化[J].农业机械学报,2017,48(10):390-400.
[7]WU G L.Multiobjective optimum design of a 3-RRR spherical parallel manipulator with kinematic and dynamic dexterities[J].Modeling Identification&Control,2012,33(3):111-122.
[8]车林仙.面向机构分析与设计的差分进化算法研究[D].徐州:中国矿业大学,2012:138-169.
[9]车林仙,程志红.液压支架直线四杆机构综合的差分进化算法[J].机械设计,2017(6):65-70.
[10]孔民秀,陈琳,杜志江,等.基于NSGA-II算法的平面并联机构动态性能多目标优化[J].机器人,2010,32(2):271-277.
[11]车林仙,程志红,何兵.4-PRUR并联机构及其位置分析的差分进化算法[J].机械工程学报,2010,46(23):36-44.
[12]杨廷力.机器人机构拓扑结构设计[M].北京:机械工业出版社,2012:76-100.
[13]朱伟,戴志明,刘晓飞,等.一种新型弱耦合三平移并联机器人机构及其运动学分析[J].中国机械工程,2017,28(13):1561-1566.
[14]赵瑞杰.3-PPR球面并联机构运动学性能研究与应用[D].太原:中北大学,2017:4-11.
[15]UNAL R,KIZILTAS G,PATOGLU V.Multi-criteria design optimization of parallel robots[C]//2008 IEEE Conference on Robotics,Automation and Mechatronics,Sept 21-24,2008,Chengdu,Sichuan.New York:IEEE,2008:112-118.
[16]何兵,车林仙,刘初升,等.空间6R机械臂位置逆解的复合形差分进化算法[J].机械工程学报,2014,50(15):45-52.