冗余4-RRR并联机器人机构的运动学分析与优化设计  

Kinematic Analysis and Optimal Design of Redundant 4-RRR Parallel Robot Mechanism

作　　者：王迅 Wang Xun(Suzhou Industrial Park Branch of Jiangsu Union Technical Institute,Suzhou 215000,China)

机构地区：[1]江苏联合职业技术学院苏州工业园区分院,江苏苏州215000

出　　处：《廊坊师范学院学报（自然科学版）》2024年第4期26-34,共9页Journal of Langfang Normal University(Natural Science Edition)

基　　金：苏州市科教创新区优质创新平台“智能感知与计算优质创新平台”(YZCXPT2023103);中国陶行知研究会2023年度“十四五”规划“职业教育”专项课题(ztzj202330028)。

摘　　要：以冗余4-RRR平面并联机构作为研究目标,建立4-RRR平面并联机构运动学逆解模型。基于此,建立并联机构工作空间边界搜索目标函数,提出一种基于萤火虫算法的工作空间搜索数值方法,实现4-RRR平面并联机构的可达工作空间和定姿态工作空间边界搜索并得到工作空间图。根据蒙特卡洛法计算得到工作空间进行对比验证,研究参数尺寸和工作空间大小之间的影响关系,采用图形法分析4-RRR平面并联机构的转动能力,最后建立以工作空间面积Stotal和平均转动能力指标η的多目标优化函数,选择NSGA-Ⅱ算法实现参数尺寸优化,得到多组Parto优化前沿集并进行算例分析。Taking the redundant 4-RRR planar parallel mechanism as the research object,the inverse kinematics model of 4-RRR planar parallel mechanism is established.Based on this,the objective function of workspace boundary optimization of parallel mechanism is established,a numerical method of workspace search based on firefly algorithm is proposed,the boundary search of the reachable workspace and the fixed posture workspace of the 4-RRR planar parallel mechanism is realized,and the workspace graph is obtained.According to the workspace calculated by Monte Carlo method,the relationship between the size of parameters and workspace is studied.The rotation ability of 4-RRR planar parallel mechanism is analyzed by graphic method.Finally,the index of workspace area and average rotation ability is established,the NSGA-Ⅱ algorithm is selected to optimize the parameter size,multiple sets of parto optimization frontier sets are obtained,and an example is analyzed.

关 键 词：4-RRR 平面并联机构 逆解 搜索算法 萤火虫算法 

分 类 号：TH122[机械工程—机械设计及理论]