基于条件数的3-RRS并联机器人运动性能优化  

Parameter Optimization of the 3-RRS Paralled Robot Based on The Condition Index

作　　者：刘永均[1] 张静[1] 李柏林[1] 

机构地区：[1]西南交通大学机械工程学院,成都610031

出　　处：《机械设计与研究》2008年第6期32-34,共3页Machine Design And Research

摘　　要：分析了3-RRS并联机器人的位姿运动特点,提出了采用层次迭代搜索策略来计算机构全域条件数的方法,避免了复杂工作空间体积的积分过程,容易获得工作空间的边界曲面,节省了计算成本,这种方法也适用于其他类型并联机构工作空间的相关计算。在充分考虑机构的约束情况下,以全域条件数和工作行程为目标,采用遗传算法对机构参数进行了优化。This paper analyzes the pose movement characteristics of 3-RRS parallel robot. A hierarchically iterative search strategy is providld for calculating the global condition index of mechanism. It avoids the complicated integral process of workspace volume and easy to obtain the boundary surfaces of workspace so the computational cost is saved. This method is also suitable for calculating the workspace of other types of parallel robot. Based on the full consideration of mechanical constraint, the global condition index and the working stroke are taken as the target, the parameters of the mechanism are optimized with genetic algorithm.

关 键 词：基于条件数的3-RRS并联机器人运动性能优化 

分 类 号：TH122[机械工程—机械设计及理论]