Parameter optimization design of high-speed 6-PSS parallel robot

被引：0

作者：

Sun, Xiaoyong ^{[1
]}

Zheng, Bin ^{[1
]}

Bao, Jie ^{[2
]}

Zhang, Qi ^{[1
]}

Gao, Peng ^{[1
]}

机构：

[1] Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing

[2] Department of Automatic and Electric Systems, University of Lille 1, Lille

来源：

Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2015年 / 46卷 / 05期

关键词：

Dynamic performance; High-speed; Parallel robot; Parameter optimization; Work space;

D O I：

10.6041/j.issn.1000-1298.2015.05.052

中图分类号：

学科分类号：

摘要：

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. ©, 2015, Chinese Society of Agricultural Machinery. All right reserved.

引用

页码：372 / 378

页数：6

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