基于R&(2-RPR)+UPS并联机械腿结构参数优化  

Structural Parameters Optimization of R&(2-RPR)+UPS Parallel Mechanical Legs

作　　者：李振 王晓磊[1] 李晓丹[1] Li Zhen;Wang Xiaolei;Li Xiaodan(College of Mechanical Engineering and Automation,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001

出　　处：《机械传动》2024年第7期85-90,共6页Journal of Mechanical Transmission

基　　金：辽宁省科学技术基金项目(2019-ZD-0689);辽宁省高等学校科学技术研究项目(JL201615402)。

摘　　要：针对绝大多数并联机械腿工作空间小的问题,提出了一种新型带有放大机构的R&(2-RPR)+UPS并联机械腿,并对其主要结构参数进行了优化。首先,使用SolidWorks软件建立了并联机械腿及四足机器人整机三维模型,推导了单腿机构的位置反解,并通过Adams软件及Matlab软件对其正确性进行了仿真验证;其次,采用蒙特卡洛法求解了单腿工作空间体积,并将其作为优化指标,分别探究了该优化指标与各结构参数之间的规律,确定了优化变量;最后,采用粒子群算法对机械腿主要结构参数进行了优化。结果表明,优化后的机械腿工作空间体积增大了69.83%,在X、Y方向上的工作空间范围分别增大了35.26%、19.51%,提高了四足机器人的快速行走及越障能力。Aiming at the problem of small workspace in the majority of parallel robotic legs,a novel R&(2-RPR)+UPS parallel mechanical leg with an amplification mechanism is proposed,and its main structural parameters are optimized.Firstly,the three-dimensional models of the parallel mechanical leg and the whole quadruped robot are established by SolidWorks software.The position inverse solution of the single leg mechanism is derived,and its correctness is verified through simulations using Adams and Matlab software.Secondly,the workspace volume of the single leg is computed by Monte Carlo method and used as the optimization index.The rules between the optimization index and various structural parameters are studied separately,and the optimization variables are determined.Finally,the main structural parameters of the robotic leg are optimized by the particle swarm optimization algorithm.The results show that the optimized robotic leg's workspace volume is increased by 69.83%,and the workspace ranging in X and Y directions are increased respectively by 35.26%and 19.51%,which has improved the quadruped robot's ability of fast walking and obstacle overcoming.

关 键 词：并联机械腿 结构参数优化 粒子群优化算法 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]