Optimization Analysis of Large Workspace/Rod Length of 8-SPU Redundant Mechanism

Zhang Hanjie; Wan Xiaojin; Li Qinglei; Wang Kai

doi:10.16578/j.issn.1004.2539.2018.01.011

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Optimization Analysis of Large Workspace/Rod Length of 8-SPU Redundant Mechanism

更新时间：2022-10-20

- Optimization Analysis of Large Workspace/Rod Length of 8-SPU Redundant Mechanism
- Vol. 42, Issue 1, Pages: 52-56(2018)
- 作者机构：
  
  1. 武汉理工大学现代汽车零部件技术湖北省重点实验室
  2. 武汉理工大学汽车工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.01.011
  CLC：
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[1]张涵洁,万小金,李清蕾,王凯.8-SPU冗余机构大工作空间/杆长行程优化分析[J].机械传动,2018,42(01):52-56.

Zhang Hanjie, Wan Xiaojin, Li Qinglei, et al. Optimization Analysis of Large Workspace/Rod Length of 8-SPU Redundant Mechanism. [J]. 42(1):52-56(2018)
[1]张涵洁,万小金,李清蕾,王凯.8-SPU冗余机构大工作空间/杆长行程优化分析[J].机械传动,2018,42(01):52-56. DOI： 10.16578/j.issn.1004.2539.2018.01.011.

Zhang Hanjie, Wan Xiaojin, Li Qinglei, et al. Optimization Analysis of Large Workspace/Rod Length of 8-SPU Redundant Mechanism. [J]. 42(1):52-56(2018) DOI： 10.16578/j.issn.1004.2539.2018.01.011.

摘要

鉴于并联机器人工作空间较小的状况,对一种等效8-SPU并联机构采用三维边界搜索法对工作空间进行了求解及优化。考虑机构杆长约束、转角约束、连杆干涉,建立逆运动学方程,搜索所有工作空间内的点,绘出了定姿态工作空间的三维边界图,然后给出了两个机构参数对工作空间的影响曲线。最后以体积比杆长行程为目标函数,采用粒子群算法优化后得到最大的函数值。得到全局最优解后,给出了优化后的工作空间三维图以及优化前后综合指标对比。优化结果表明,仅增加27.59%的连杆行程,工作空间体积增加了143.91%,优化效果较明显。

Abstract

In view of the situation that the workspace of the parallel robot is small,the workspace of an equivalent 8-SPU parallel mechanism is solved and optimized by using the three-dimensional boundary search method. Considering the rod length constraint,angle constraint,link interference,the inverse kinematics equation is established,all points in the workspace is searched,the three-dimensional boundary diagram with fixed posture is given,and then the influential curve of two mechanism parameters on workspace is given. Finally,the ratio of the volume with stroke of the rod is taken as the objective function,and particle swarm optimization algorithm is used to get the maximum function value. The global optimal solution is obtained,and the optimized three-dimensional diagram and the comprehensive indices comparison between unoptimized and optimized is given. The results show that the volume of workspace increases 143. 91% with 27. 59% raise of the stroke and the optimization effect is obvious.

关键词

冗余机构工作空间参数优化

Keywords

Redundant mechanismWorkspaceParameter optimization

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