摘要
提出一种利用遗传算法求解 6自由度空间并联机器人机构综合问题的新方法。该机构的工作空间必须包含预先给定的且具有一定姿态能力的工作空间。为了描述具有一定姿态能力的工作空间 ,给出了一种简单有效的搜索算法。该法考虑了连杆长度限制、铰链转角限制和连杆干涉。算例表明结构参数可得到有效地优化 ,从而获得紧凑的机器人机构。
One important thing in design of a parallel manipulator is to determine the kinematical geometry for a desired workspace. This paper presents a genetic algorithm approach for the synthesis of spatial 6-DOF parallel manipulators whose workspace must include a desired workspace with orienting capabilities in a given 3D region. A simple method is presented to describe the workspace with orienting capabilities, which takes into account the leg-length limits, the mechanical limits on the passive joints and the interferences between legs. The application examples show that the architectural parameters can be optimized to produce a compact manipulator.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2002年第3期187-190,共4页
China Mechanical Engineering
