基于GTW与GTI性能指标的平面5R对称并联机器人的优化研究  

Optimum Research of Planar 5R Symmetric Parallel Robot based on the Performance Indicator about GTW and GTI

作　　者：吴泽启 贺静[1] 王志军 杜连涛 Wu Zeqi;He Jing;Wang Zhijun;Du Liantao(Department of Mechanical Engineering,Tangshan Polytechnic College,Tangshan 063299,China;School of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China)

机构地区：[1]唐山工业职业技术学院机械工程系,河北唐山063299 [2]华北理工大学机械工程学院,河北唐山063210

出　　处：《机械传动》2020年第12期80-84,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51505124)。

摘　　要：机器人结构参数即杆件尺寸的优化设计是并联机器人领域中一个非常重要的研究内容。为优化5R并联机器人的结构参数,给出以下步骤:首先,绘制出5R对称并联机器人的平面设计空间;然后,利用传动角的概念,通过局部传递性能指标LTI(Local Transmission Index)的合理取值范围,定义了两个性能指标:最优传递工作区域GTW(Good-Transmission Workspace)和全局传递指标GTI(Global Transmission Index),并在绘制出的平面设计空间内绘制出了GTW和GTI性能图谱;最后,给出优化设计流程,基于绘制的性能图谱,对5R对称并联机器人进行了优化设计。最终优化得到的机器人,只要传动角在一定范围内运行,不仅能满足工作需要,而且具有良好的运动和力传递性能。Optimum design about geometric parameters,i.e.link lengths is one of the most important issues in the field of parallel robots.In order to facilitate optimization of the geometric parameters of 5R parallel robot,the following steps are given.First,the planar design spaces of the 5R symmetric parallel robot are drawn.Then,using the concept of transmission angle,the good transmission workspace(GTW)and global transmission index(GTI)are defined by reasonable range of LTI(Local Transmission Index).The GTW and GTI atlas are given in the planar design space.Finally,the optimization design process is given,and the optimum design of planar 5R symmetric parallel manipulator is conducted based on the performance atlases.As long as the transmission angle is kept within a certain range,the optimized robot not only can meet the needs of work,but also has excellent performance on motion and force transmission.

关 键 词：并联机器人 优化设计 运动和力传递 传动角 GTW GTI 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]