采用混合算法优化的3-PRRR并联冗余机械手驱动力矩研究  

Research on Driving Torque of 3-PRRR Parallel Redundant Manipulator Optimized by Hybrid Algorithms

作　　者：顾建华[1] 邓小芳[2] 孙贵生 GU Jianhua;DENG Xiaofang;SUN Guisheng(Yancheng Vocational Institute of Industry Technology,Yancheng Jangsu 224000,China;Guizhou Institute of Electronic and Information Technicians,Duyun Guizhou 558000,China;Chongqing University of Technology,Chongqing 401135,China)

机构地区：[1]盐城工业职业技术学院,江苏盐城224000 [2]贵州省电子信息技师学院,贵州都匀558000 [3]重庆理工大学,重庆401135

出　　处：《机床与液压》2019年第23期89-93,共5页Machine Tool & Hydraulics

基　　金：2018年苏北科技专项(SZ-YC2018067)

摘　　要：为了降低平面3⁃PRRR并联冗余机械手驱动力矩,提高机械手运动平台运动的稳定性,采用混合算法优化机械手运动参数,并对驱动力矩进行仿真验证。针对传统非冗余机械手驱动系统进行改进,给出了平面3⁃PRRR并联冗余机械手简图,设计了冗余机械手驱动系统,采用雅克比矩阵对冗余机械手运动平台运动轨迹进行转换,推导出冗余机械手3个分支闭环运动轨迹方程式。引用粒子群算法并进行改进,添加了遗传算法中交叉和变异操作,设计出了混合粒子群算法。采用混合算法优化冗余机械手运动参数,通过MATLAB软件对冗余机械手3个分支驱动力矩变化进行仿真,与优化前进行对比。结果显示:优化前,平面3⁃PRRR并联冗余机械手驱动力矩较大,整体波动幅度较大;优化后,平面3⁃PRRR并联冗余机械手驱动力矩较小,整体波动幅度较小。采用混合算法优化平面3⁃PRRR并联冗余机械手运动参数,可以降低机械手驱动力矩,减少冗余机械手运动系统能量消耗。In order to reduce the driving torque of planar 3-PRRR parallel redundant manipulator and to improve the stability of the motion platform of the manipulator,a hybrid algorithm is used to optimize the motion parameters of the manipulator,and the driving torque is simulated and verified.Aiming at the improvement of the traditional non-redundant manipulator drive system,the sketch of planar 3-PRRR parallel redundant manipulator was given,and the redundant manipulator drive system was designed.The Jacobian matrix was used to transform the motion trajectory of the redundant manipulator motion platform,and the closed-loop motion trajectory equation of three branches of the redundant manipulator was derived.The hybrid particle swarm optimization(HPSO)was designed by introducing and improving the particle swarm optimization(PSO)and adding crossover and mutation operations in genetic algorithm.Mixed algorithm was used to optimize the motion parameters of the redundant manipulator,and the changing of driving moment of the three branches of the redundant manipulator was simulated by MATLAB software,which was compared with that before optimization.The results show that before optimization,the driving torque of planar 3-PRRR parallel redundant manipulator is larger and the overall fluctuation range is larger;after optimization,the driving torque of planar 3-PRRR parallel redundant manipulator is smaller and the overall fluctuation range is smaller.The hybrid algorithm is used to optimize the motion parameters of planar 3-PRRR parallel redundant manipulator,which can reduce the driving moment of the manipulator and reduce the energy consumption of the motion system of the redundant manipulator.

关 键 词：混合算法 冗余机械手 驱动力矩 优化 仿真 

分 类 号：TH137[机械工程—机械制造及自动化]