一种三平移并联机器人机构的多目标优化设计  

Multi-objective Optimization Design for a Kind of Three-translation Parallel Robot Mechanism

作　　者：马致远 朱伟[1] 李寒冰 顾开荣 王传伟[1] 史久伟[1] Ma Zhiyuan;Zhu Wei;Li Hanbing;Gu Kanrong;Wang Chuanwei;Shi Jiuwei(School of Mechanical Engineering,Changzhou University,Changzhou 213016,China)

机构地区：[1]常州大学机械工程学院,江苏常州213016

出　　处：《机械传动》2019年第2期50-54,共5页Journal of Mechanical Transmission

基　　金：江苏省自然科学基金(BK20161192)

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 2RRPaR+PPaP three translational space parallel mechanism is designed,and the for.ward 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 maxi.mum 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.

关 键 词：并联机构 工作空间 灵巧度 差分进化算法 优化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]