孙小勇,郑彬,鲍捷,张祺,高鹏.高速6—PSS并联机器人参数优化设计[J].农业机械学报,2015,46(5):372-378.
Sun Xiaoyong,Zheng Bin,Bao Jie,Zhang Qi,Gao Peng.Parameter Optimization Design of High-speed 6—PSS Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):372-378.
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高速6—PSS并联机器人参数优化设计   [下载全文]
Parameter Optimization Design of High-speed 6—PSS Parallel Robot   [Download Pdf][in English]
投稿时间:2014-08-22  
DOI:10.6041/j.issn.1000-1298.2015.05.052
中文关键词:  并联机器人  高速  参数优化  工作空间  动态性能
基金项目:国家自然科学基金资助项目(61179059、51205435)和重庆市151科技重大专项资助项目(cstc2013jcsf—zdzxqqX0005)
作者单位
孙小勇 中国科学院重庆绿色智能技术研究院 
郑彬 中国科学院重庆绿色智能技术研究院 
鲍捷 里尔第一大学 
张祺 中国科学院重庆绿色智能技术研究院 
高鹏 中国科学院重庆绿色智能技术研究院 
中文摘要:针对高速6—PSS并联机器人尺寸参数多、动态性能复杂等特点,提出一种以工作空间为基础、动力学特性为优化目标的多目标优化方法。首先构建机构运动学方程,并利用拉格朗日法构建动力学模型,对机构的约束条件及工作空间进行分析,确定尺寸参数的搜索范围。然后,分析各个尺寸参数对关键动态性能的影响趋势,综合分析计算结果并提出优化目标函数。最后,通过优化数学模型计算,得到并联机器人尺寸参数最优解。通过仿真验证,对比优化前后驱动力、速度、功率等动态性能参数值,结果表明了优化算法的有效性和正确性,可为高速并联机构的参数设计提供一种有效的优化方法。
Sun Xiaoyong  Zheng Bin  Bao Jie  Zhang Qi  Gao Peng
Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences,Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences,University of Lille 1,Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences and Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences
Key Words:Parallel robot  High-speed  Parameter optimization  Work space  Dynamic performance
Abstract:Because of complex size parameters and dynamic performance in high-speed 6—PSS parallel robot, a multi-objective optimization method based on work space was proposed. The aim of this method was to improve the dynamic performance. At first, the kinematic equations of parallel robot were calculated, the dynamics equation was solved by using the Lagrange equations, and the optimize range of size parameters was obtained according to the constraints analysis and work space analysis of parallel robot. Then, the influence trend of various parameters on the critical dynamic performance was analyzed. The optimization objective function was proposed by using comprehensive analysis of the results. At last, the size parameter optimal solution of parallel robot was obtained by using optimized mathematical model. Through the simulation, the dynamic performance values before and after optimization, including the driving force, speed, power, etc. were compared which could prove the correctness of the proposed optimization method. The obtained results showed that the optimization algorithm was correct and effective, which can provide an effective method for optimizing parameters design in high-speed parallel mechanism.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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