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平面冗余并联机器人的综合性能优化设计

刘欣 仇原鹰 盛英 李俊华

刘欣, 仇原鹰, 盛英, 李俊华. 平面冗余并联机器人的综合性能优化设计[J]. 西南交通大学学报, 2008, 21(5): 626-632.
引用本文: 刘欣, 仇原鹰, 盛英, 李俊华. 平面冗余并联机器人的综合性能优化设计[J]. 西南交通大学学报, 2008, 21(5): 626-632.
LIU Xin, QIU Yuanying, SHENG Ying, LI Junhua. Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator[J]. Journal of Southwest Jiaotong University, 2008, 21(5): 626-632.
Citation: LIU Xin, QIU Yuanying, SHENG Ying, LI Junhua. Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator[J]. Journal of Southwest Jiaotong University, 2008, 21(5): 626-632.

平面冗余并联机器人的综合性能优化设计

基金项目: 

教育部留学回国人员实验室基金资助项目(030401)

国家自然科学基金重点项目(10433020)

详细信息
    作者简介:

    刘欣(1981- ),男,博士研究生,研究方向为冗余并联机器人,电话:13991106902,E-mail:xliu@mail.xidian.edu.cn

    通讯作者:

    仇原鹰(1958-),男,教授,博导,研究方向为机电一体化及CAD/CAE,电话:029-88204639,E-mail:yyqiu@mail.xidian.edu.cn

Optimization of Comprehensive Performance of Planar Redundant Parallel Manipulator

  • 摘要: 对平面二自由度冗余并联机器人的综合性能优化设计进行了探讨.基于运动学模型,给出了该机器人的雅可比矩阵和最优拓扑构形,分析了结构参数对工作空间和奇异性的影响规律.提出了衡量机器人运动精度、力传递性能、结构刚度和工作空间利用率的综合评价指标,建立了以综合评价指标为目标函数,以任务空间和无奇异位形为约束条件的数学优化模型,并采用自适应遗传算法求解.研究为同类机器人的优化设计提供了参考.

     

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出版历程
  • 收稿日期:  2007-12-11
  • 刊出日期:  2008-10-25

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