采用改进蝙蝠算法优化的并联机器人液压驱动误差控制研究  

An improved algorithm for the hydraulic drive error control of parallel robot is adopted

作　　者：李智慧[1] 李爱诚 LI Zhihui;LI Aicheng(Department of Numerical Control Technique,The College of Xinxiang Vocational and Technical,Xinxiang 453000,Henan,China;College of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]新乡职业技术学院数控技术系,河南新乡453000 [2]合肥工业大学机械工程学院,合肥230009

出　　处：《中国工程机械学报》2018年第3期263-268,共6页Chinese Journal of Construction Machinery

基　　金：安徽省自然科学基金计划资助项目(14040606M119)

摘　　要：为了提高并联机器人运动平台轨迹跟踪精度,采用了改进蝙蝠算法优化并联机器人液压驱动控制机构,并对轨迹跟踪误差进行仿真.创建并联机器人液压驱动机构简图模型,给出液压驱动运动平台控制方程式,引用非线性级联控制并联机器人运动平台输出轨迹.设计并联机器人运动平台的参数变量,构造误差输出目标函数并且进行约束.采用差分进化算法融合蝙蝠算法优化目标函数,将优化后的参数输入到Matlab软件中进行误差仿真验证.同时,与蝙蝠算法优化级联控制仿真结果进行对比.仿真结果证明:采用蝙蝠算法优化级联控制,运动平台在x轴、y轴及z轴输出的最大误差分别为1.3×10^(-2),1.8×10^(-2),2.6×10^(-2) m;采用改进蝙蝠算法优化级联控制,运动平台在x轴、y轴及z轴输出的最大误差分别为1.5×10^(-4),1.9×10^(-4),2.5×10^(-4) m.采用改进蝙蝠算法优化并联机器人级联控制,能够提高运动平台定位精度.In order to improve the trajectory tracking accuracy of the parallel robot motion platform,the improved bat algorithm is adopted to optimize the hydraulic drive control mechanism of parallel robot,and the trajectory tracking error is simulated.A schematic model of hydraulic drive mechanism of parallel robot is established,and the control equation of hydraulic drive platform is given,and the output trajectory of parallel robot motion platform is referenced by nonlinear cascade control.Design the parameter variable of parallel robot motion platform,construct error output target function and constrain.The algorithm is used to optimize the target function,and the optimized parameters are input into the Matlab software to verify the error.At the same time,the simulation results are compared with the optimization cascade control.The simulation results show that the maximum error of the motion platform in x-axis,y-axis and z-axis is 1.3×10（-2）,1.8×10（-2）,2.6×10（-2） m respectively.The maximum error of the motion platform in x-axis,y-axis and z-axis is 1.5×10（-4）,1.9×10（-4）,2.5×10（-4） m.The improved bat algorithm is used to optimize the cascade control of parallel robot,which can improve the positioning accuracy of the motion platform.

关 键 词：并联机器人 运动平台 改进蝙蝠算法 级联控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]