摘要
提出一种基于混沌映射算法的水波法来实现平面并联机构工作空间的快速搜索,以3-RRR平面机器人为例对其可达工作空间、定姿态工作空间、灵活工作空间进行了分析,定义了一个评价转动能力指标来分析机构在可达工作空间内的转动能力,并通过MATLAB实现可视化绘图,直观地描述了转动能力在工作空间内的分布情况。最后通过遗传算法对机构进行尺度优化,有效提高了机构的转动能力。
A waterwave method based on chaotic mapping algorithm for the fast search algorithm of planar parallel mechanism workspace is put forward in the study. Taking the 3-RRR parallel mechanism as a example,the reachable workspace,certain posture workspace and dexterous workspace are analyzed. A rotation ability evaluation index is defined to analyze the mechanism rotation capacity inside workspace and visualization drawing by MATLAB,the distribution of rotational capacity in the working space is intuitively reflected. Finally,the mechanism is optimized by genetic algorithm to improve the mechanism rotational ability.
作者
夏永强
罗玉峰
石志新
羊龙
邹金龙
李少帅
Xia Yongqiang;Luo Yufeng;Shi Zhixin;Yang Long;Zou Jinlong;Li Shaoshuai(School of Mechatronics Engineering,Nanchang University,Nanchang 330031,China;School of Mechatronics ＆ Vehicle Engineering,East China Jiaotong Univm~ity,Nanchang 330013,China;Sichuan Aerospace Tuoxin Basalt Industrial Co.,Ltd.,Chengdu 611000,China)
出处
《机械传动》
CSCD
北大核心
2018年第6期58-63,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51365036)
关键词
混沌映射算法
并联机构
工作空间
转动能力
参数优化
Chaotic mapping algorithm
Parallel mechanism
Workspace
Rotation ability
Parameter optimum
