四自由度冗余驱动并联机器人的结构优化算法  

Structural Optimization Algorithm of Four Degree of Freedom Redundant Driven Parallel Robot

作　　者：李袁[1] 刘海平 王嘉恒 LI Yuan;LIU Hai-ping;WANG Jia-heng(Zhengzhou Railway Vocational and Technical College,He’nan Zhengzhou 450000,China;School of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州铁路职业技术学院,河南郑州450000 [2]郑州大学机械与动力工程学院,河南郑州450001

出　　处：《机械设计与制造》2023年第11期241-247,252,共8页Machinery Design & Manufacture

基　　金：2019年河南高校中青年教师科研基础能力提升项目—仿人头眼协调运动智能机器人关键技术研究(2019KY22007)。

摘　　要：针对平移和旋转混合的四自由度冗余驱动并联机器人(RAPM)结构,提出了通过增加运动约束来实现冗余驱动的优化算法。通过推导RAPM的齐次雅可比矩阵,将末端执行器(EE)上三个点的广义速度映射到关节速度,在此基础上建立RAPM的结构优化算法,减少了末端执行器(EE)的自由度。最后采用基于雅可比矩阵的优化算法,对基于连杆-凸轮机构的RAMP连杆尺寸进行了优化,结果表明该优化算法对在对该类型的RAMP的尺寸优化设计是有效的,该设计方法具有一定的通用性。Aiming at the structure of four degree of freedom redundant actuated parallel robot(RAPM)with hybrid translation and rotation,an optimization algorithm for redundant actuation by adding motion constraints is proposed.By deriving the homogeneous Jacobian matrix of RAPM,the generalized velocity of three points on the end effector(EE)is mapped to the joint velocity.On this basis,the structural optimization algorithm of RAPM is established to reduce the degree of freedom of the end effector(EE).Finally,the optimization algorithm based on Jacobian matrix is used to optimize the size of ramp connecting rod based on connecting rod cam mechanism.The results show that the optimization algorithm is effective for the size optimization design of this type of ramp,and the design method has certain universality.

关 键 词：冗余驱动 并联机器人 连杆凸轮机构 雅可比矩阵 优化算法 

分 类 号：TH16[机械工程—机械制造及自动化]