一种三自由度冗余驱动混联机器人的优化设计与仿真分析
The Optimal Design and Simulation about a 3-DOF Redundant Actuation Hybrid Robot
DOI: 10.12677/AIRR.2017.62008, PDF, HTML, XML, 下载: 1,663  浏览: 4,381  科研立项经费支持
作者: 惠记庄, 武琳琳, 程顺鹏, 赵斌：中国道路施工技术与装备教育部重点实验室
关键词: 冗余驱动混联机器人；尺寸参数优化；工作空间；性能图谱；Redundant Actuation Hybrid Robot； Parameter Optimization； Work Space； Performance Map
摘要: 对机器人进行相应的优化设计可以使机器人具有更好的结构性能与工作性能。以一种三自由度冗余驱动混联机器人为研究对象，对该机器人尺寸参数无量纲化并分析该机器人可达的工作空间，进而在混联机器人工作空间中找出最优杆件尺寸和位置参数，绘出该混联机器人在其工作空间中的性能图谱。采用Solidworks软件建立优化后的三自由度冗余驱动混联机器人的三维模型，并导入到ADAMS中对其进行动态仿真分析，其分析结果与性能图谱中各性能指标分布规律相一致，验证了机构各项性能指标分析的准确性以及优化方法的合理性，其仿真结果为类似机器人机构的优化提供参考。
Abstract: In order to make the hybrid robot have the better structural performance and working perfor-mance, the optimization design of the robot is required. A 3-DOF redundant actuation hybrid robot is used as the research object in this paper. Firstly, the dimension parameters of the robot are non-dimensionalized and the work space of the robot is analyzed. Secondly, the optimal member size and position parameters are sought in the work space of the robot, and the corresponding per-formance atlas has been plotted. Finally, the pattern of 3-DOF redundant actuation hybrid robot was established by SOLIDWORKS which was imported to Adams to obtain its dynamic simulation analy-sis; the analysis results are consistent with the distribution rules of the performance atlas. Simula-tion results show that the correctness of each performance index analysis and the rationality of op-timization method. The simulation results provide the reference for the optimization of similar ro-bot mechanism.
文章引用：惠记庄, 武琳琳, 程顺鹏, 赵斌. 一种三自由度冗余驱动混联机器人的优化设计与仿真分析[J]. 人工智能与机器人研究, 2017, 6(2): 65-73. https://doi.org/10.12677/AIRR.2017.62008

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