遗传算法优化的运动冗余3-PRRR平面并联机械手控制研究  

Research on optimal control of kinematic redundancy 3-PRRR planar parallel manipulator based on genetic algorithm

作　　者：邓小芳[1] 高锐[1] 孙贵生 DENG Xiaofang;GAO Rui;SUN Guisheng(Department of Mechanical Manufacturing Engineering,Guizhou Institute of Electronic and Information Technicians,Duyun 558000,Guizhou,China;College of Mechanical Engineering,Chongqing University of Technology,Chongqing 401135,China)

机构地区：[1]贵州省电子信息技师学院机械制造工程系,贵州都匀558000 [2]重庆理工大学机械工程学院,重庆401135

出　　处：《中国工程机械学报》2019年第5期407-412,418,共7页Chinese Journal of Construction Machinery

基　　金：贵州省科技支持资助项目(BK300819);重庆自然基金资助项目(2016AB5053)

摘　　要：针对传统3-RRR平面并联机械手在奇点位置需要致动力矩无限大,无法实现平滑轨迹跟踪的问题,提出平面3-PRRR冗余并联机械手构形,基于雅可比矩阵方法建立了机械手的致动力矩模型.为避免运动奇点,提出一种利用二进制编码遗传算法,实现运动冗余平面并联机构跟踪期望轨迹的最小驱动力矩的优化方法.通过数学软件Matlab/Simulink对直线运动轨迹的非冗余3-RRR机械手、1-DOKR、2-DOKR和3-DOKR冗余机械手进行仿真,并进行了对比分析.结果表明:在轨迹上通过奇异点时,冗余机械手的输出力矩为较低的有限值,其致动力矩远低于非冗余机械手,随着自由度的增大,致动力矩进一步减小,最小致动力矩仅为原来的5.7%,证明了运动冗余的有效性.Aimed at the problem that the traditional 3-PRRR planar parallel manipulator needs an infinite actuating moment at the singular point,which cannot realize smooth trajectory tracking,this paper proposes a planar 3-PRRR redundant parallel manipulator configuration,and establishes the actuating moment model of the manipulator based on Jacobian matrix method.In order to avoid motion singularities,a binary coded genetic algorithm is proposed to optimize the minimum driving torque of planar parallel mechanisms with motion redundancy for tracking desired trajectory.The non-redundant 3-RRR manipulator and 1-DOKR,2-DOKR and 3-DOKR redundant manipulator with linear motion trajectory are simulated and analyzed by Matlab/Simulink.The results show that the output torque of the redundant manipulator is much lower than that of the non-redundant manipulator when it passes through the singular point on the trajectory.With the increase of the degree of freedom,the actuating torque decreases further,and the minimum actuating torque is only 5.7%.This proves the validity of the motion redundancy.

关 键 词：运动冗余 平面并联机械手 遗传算法 致动力矩 3-PRRR 

分 类 号：TH134[机械工程—机械制造及自动化]