基于遗传算法3-RCR并联机器人的结构参数优化设计  

Parameters Optimization Design of 3-RCR Parallel Robot Mechanism Based on Genetic Algorithm

作　　者：陈海真[1] 邹忠月[1] 宋宏鹏[1] 

机构地区：[1]山东理工大学机械工程学院,淄博255049

出　　处：《机械设计与制造》2012年第7期49-51,共3页Machinery Design & Manufacture

基　　金：山东省自然科学基金资助项目(Y2006G17)

摘　　要：确定机器人机构结构参数是并联机构优化设计的难题,因为并联机器人的机构结构参数优化属于多维,多目标和多约束条件优化问题。基于3-RCR并联机构的工作空间体积,分析了机构结构参数对工作空间体积的影响。运用坐标变换法对机构的位置反解进行求解;利用极坐标边界搜索法通过具体算例确定了机构的工作空间及其边界,以工作空间为目标利用遗传算法对机构进行了结构参数优化,获得了性能优良的结构参数,运用MATLAB软件编程得到了该并联机构的工作空间图谱。为该类并联机构的进一步研究和推广应用奠定了基础。Because of multi-objective,multidimensional and multiple constraints of the structural parameter optimization of the robot mechanism,it is difficult to determine the structural parameters in optimization design of the 3-RCR parallel robot mechanism.Analyzes influence of structural parameters on the workspace volume,based on workspace volume of 3-RCR parallel mechanism.Inverse positions of the mechanism were solved by means of coordinate transformations.Then the polar coordinates boundary searching was used to determine the workspace and the boundary.By taking the workspace as the optimized goal,the optimization structure parameters were obtained by using the genetic algorithm.After that the workspace atlases of the mechanism were gained by making use of the MATLAB,which lay a foundation for study and application of the mechanism in the future.

关 键 词：并联机构 位置反解 工作空间 优化设计 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]