摘要
基于按摩机器人捏拿机构的运动特点,运用复合形法,以满足机构运动要求和结构紧凑为优化目标,建立了机器人捏拿机构的数学模型,采用编写的复合形法程序,对捏拿机构进行了优化,获得了机构设计变量的最优解。把优化结果应用到按摩机器人设计中,验证了该优化设计能满足设计要求。
In view of movement characteristic of the take knead mechanism, the mathematical model is established, with compact structure, and meeting and the requirement of the trajectory as optimization objective. The take knead mechanism is optimized by using complex method. The optimal solutions of design variables are obtained. The optimization results are applied to the design of the massage robot, It can meet the design requirements.
出处
《机械》
2016年第1期40-42,80,共4页
Machinery
基金
国家863计划项目(2008AA040206)
