摘要
针对三平移并联机器人机构正解计算过程复杂且无符号解所引起的实时控制问题,依据方位特征集的并联机构拓扑设计理论和方法,设计一种零耦合度且有解析式位置正解的三平移并联机构。计算该机构的耦合度和自由度、方位特征集等特性,得到位置正解和位置逆解;分析机构的奇位异型,给定一组参数并研究其工作空间和灵巧度分布。通过NSGA-II算法对全局灵巧度和工作空间体积进行多目标优化。研究结果表明:该机构具有解析式位置正解,工作空间对称无空洞,灵巧度分布均匀,得出了两个目标优化下的Pareto优化解。
Based on topology design theory and method of parallel mechanism of the characteristics of orientation feature set,three translation parallel mechanism with zero coupling degree and analytical position forward solution was proposed to solve the problem of real-time control caused by the complex and unsigned forward solution calculation process.The coupling degree and degree of freedom of the mechanism as well as the characteristics of the orientation feature set were calculated,and the position forward solution and position inverse solution were obtained.The singularity of the mechanism was analyzed,a set of parameters was given,and the workspace and dexterity distribution of the mechanism were studied.Multi objective optimization of global dexterity and workspace volume was carried out using the NSGA-II algorithm.The results show that the mechanism has an analytical position positive solution,a symmetric workspace without voids,and a uniform dexterity distribution,which provide the Pareto optimization solutions optimized by the two objectives.
作者
赵海彬
曹凯
刘进福
徐冬
ZHAO Haibin;CAO Kai;LIU Jinfu;XU Dong(School of Intelligent Manufacturing and Emergency Equipment,Jiangsu College of Safety Technology,Xuzhou 221162,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Intelligent Control,Changzhou Institute of Industry Technology,Changzhou 213164,China)
出处
《机械制造与自动化》
2025年第4期236-242,共7页
Machine Building & Automation
基金
江苏省自然科学基金项目(BK20220241)。
关键词
并联机器人
三平移
耦合度
工作空间
灵巧度
parallel manipulator
three translation
coupling degree
workspace
dexterity
作者简介
第一作者:赵海彬(1984-),男,山东济宁人,工程师,硕士,研究方向为机器人机构学、智能生产线、CAD/CAM,zhbytu1576@163.com。
