北京航空航天大学学报

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一种新型混联灌注机器人运动分析和多目标优化

杨会1,房海蓉1,李典2,方跃法3   

  1. 1. 北京交通大学机械与电子控制工程学院
    2. 北京交通大学机电学院机器人研究所
    3. 北京交通大学机电学院
  • 收稿日期:2017-03-17 修回日期:2017-05-26 发布日期:2017-09-18
  • 通讯作者: 房海蓉
  • 基金资助:
    国家自然科学基金面上项目

Kinematics Analysis and Multi-objective Optimization of a Novel Hybrid Perfusion Robot

  • Received:2017-03-17 Revised:2017-05-26 Published:2017-09-18

摘要: 针对大型航天器蜂窝结构灌注需求,提出一种新型串并混联灌注机器人机构,对其结构进行了分析。首先,在此基础上重点对3PSS-PU并联机构进行了运动学分析,建立了运动学反解数学模型和雅可比矩阵;其次,确定了影响机构工作空间主要因素的约束条件,求解出了机构的工作空间;然后,建立了机构的刚度模型,求得机构在运动过程中的刚度变化分布图;最后,利用遗传算法,以工作空间和全局刚度为目标对机构结构参数进行优化分析,确定了最终的机构尺寸参数,为蜂窝灌注机器人应用奠定基础。

关键词: 混联灌注机器人, 运动学分析, 工作空间, 刚度, 多目标优化

Abstract: In order to meet the demand of honeycomb structure perfusion of large spacecraft, a novel hybrid perfusion robot is proposed, and analysis of the mechanism is conducted. First, the article mainly focuses on kinematics analysis of 3PSS-PU parallel mechanism, and the inverse kinematic model and Jacobian matrix of 3PSS-PU mechanism are established. Then, the constraints of the main factors influencing workspace of the mechanism are given, and the reachable workspace is obtained. Next, stiffness model of the mechanism is established, and stiffness distribution of the mechanism in the process of movement is displayed. Finally, aiming at workspace volume and global stiffness, multi-objective optimization analysis of structure parameters is performed based on genetic algorithm, and final dimension parameters of the mechanism are obtained. This work would lay the foundation for the application of the honeycomb perfusion robot.

Key words: Hybrid perfusion robot, Kinematics analysis, Workspace, Stiffness, Multi-objective optimization

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