2-DOF平面并联机器人结构参数优化的研究  

Structure optimization of a novel 2-DOF planar parallel robot

作　　者：孙立宁[1] 楚中毅[1] 曲东升[1] 崔晶[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2004年第3期277-280,共4页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2001AA423110)

摘　　要：提出了一种新颖的高速高精度机器人机构:采用高速精密直线电机驱动-2-DOF平面并联杆机构.在杆机构的设计中,以结构紧凑和抑振为目标,分别采用模拟退火算法和有限元动力仿真进行了几何尺寸和截面尺寸的优化,并提出了一种基于本模型特点的新解产生机制.实验测试结果表明:经优化设计后的平面并联杆机构刚度大,高速运动下的残余振动<1 μm,直线电机的稳定时间成为决定机器人稳定时间的关键因素.A high speed/high accuracy robot is proposed, two permanent, linear, DC servomotors drive a 2-DOF planar parallel mechanism. In the design of the planar parallel mechanism, impacted structure and restraining vibration are considered, separately simulated annealing algorithm and finite element dynamical simulation to optimize geometrical dimension and section parameters are adopted. A solution generate engine is presented based on characteristics of the optimization model. Experimental results validate that the planar parallel mechanism being optimized has high stiffness, residual vibration is lower than l μm in high speed motion, and the robot's steady time is decided by linear motors.

关 键 词：平面并联 机器人 模拟退火法 结构优化 稳定时间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]