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为解决机械臂尺寸优化设计问题,首先定义了表征灵活性的数值指标——姿态概率系数,即指定工作点上可行样本姿态与所取样本姿态之间的比值;之后根据姿态概率系数提出了姿态可操作度概念,它表征了机械臂在工作空间上的整体可操作性.在此基础上,提出了机械臂尺寸优化方法.该方法在机械臂原有结构设计的基础上,以机械臂自身无碰撞为约束条件,以姿态可操作度的倒数为适应度函数,利用遗传算法优化机械臂的尺寸参数,使优化后机械臂的可操作性最优.以六自由度(DOF)机械臂为例的优化结果表明:优化后机械臂姿态可操作度提高了40.33%.最后利用灵活性工作空间图进一步验证了算法的有效性,并讨论了姿态概率系数对优化结果的影响.
In order to solve the problem of optimal design of manipulator size, we first define the numerical index that characterizes the flexibility-the attitude probability coefficient, which is the ratio between the feasible sample attitude and the sample attitude at the specified working point. Then, the pose is proposed based on the attitude probability coefficient The concept of operability, which characterizes the overall operability of the manipulator in the workspace, is proposed based on which the method of manipulator size optimization is proposed.On the basis of the original structure design of the manipulator, No collision as the constraint conditions, the reciprocal of attitude maneuverability as a fitness function, the use of genetic algorithms to optimize the size parameters of the arm to optimize the manipulability of the optimized arm to six DOF (DOF) The results of the optimization show that the manipulability of the optimized manipulator is improved by 40.33% .Finally, the validity of the algorithm is verified by using the flexible workspace diagram, and the influence of the attitude probability coefficient on the optimization result is also discussed.