| 平面冗余并联机器人的综合性能优化设计 |
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| 引用本文： | 刘欣,仇原鹰,盛英,李俊华.平面冗余并联机器人的综合性能优化设计[J].西南交通大学学报,2008,43(5). |
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| 作者姓名： | 刘欣 仇原鹰 盛英 李俊华 |
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| 作者单位： | 1. 西安电子科技大学电子装备结构教育部重点实验室,陕西,西安,710071
2. 第二炮兵96630部队,北京,102206 |
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| 基金项目： | 教育部留学归国人员实验室基金，国家自然科学基金 |
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| 摘 要： | 对平面二自由度冗余并联机器人的综合性能优化设计进行了探讨.基于运动学模型,给出了该机器人的雅可比矩阵和最优拓扑构形,分析了结构参数对工作空间和奇异性的影响规律.提出了衡量机器人运动精度、力传递性能、结构刚度和工作空间利用率的综合评价指标,建立了以综合评价指标为目标函数,以任务空间和无奇异位形为约束条件的数学优化模型,并采用自适应遗传算法求解.研究为同类机器人的优化设计提供了参考.
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| 关 键 词： | 冗余并联机器人 工作空间 奇异性 综合性能 优化 |
Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator |
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| LIU Xin,QIU Yuanying,SHENG Ying,LI Junhua.Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator[J].Journal of Southwest Jiaotong University,2008,43(5). |
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| Authors: | LIU Xin QIU Yuanying SHENG Ying LI Junhua |
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| Abstract: | The optimization of comprehensive performance of a planar 2-DOF(degree-of-freedom) redundant parallel manipulator was investigated.Based on the kinematics model of the manipulator,its Jacobian matrix and optimal topologies were given.The influences of structural parameters of the manipulator on its workspace and singularity were discussed.A comprehensive performance criterion was proposed to evaluate kinematics accuracy,force transmissibility,structural stiffness and workspace utilization rate.An optimization model with the proposed criterion as the objective function and task-space and nonsingular configuration as the constrains was constructed,and an adaptive genetic algorithm was utilized to obtain the optimal solution.The research provides a reference for the optimal design of similar manipulators. |
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| Keywords: | redundant parallel manipulator workspace singularity comprehensive performance optimization |
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