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Volume 41 Issue 9
Sep.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(9): 1693-1700.
JIA Shiyuan, JIA Yinghong, XU Shijieet al. Dimensional optimization method for manipulator based on orientation manipulability[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(9): 1693-1700. doi: 10.13700/j.bh.1001-5965.2014.0665(in Chinese)
Citation: JIA Shiyuan, JIA Yinghong, XU Shijieet al. Dimensional optimization method for manipulator based on orientation manipulability[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(9): 1693-1700. doi: 10.13700/j.bh.1001-5965.2014.0665(in Chinese)
shu

Dimensional optimization method for manipulator based on orientation manipulability

doi: 10.13700/j.bh.1001-5965.2014.0665

  • School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 25 Oct 2014
  • Publish Date: 20 Sep 2015
    Abstract
  • To solve the dimensional optimization design problem of manipulator, the numerical index of dexterity was presented by pose probability coefficient, which was defined as the ratio between possibly sampled orientations and sampled orientations of the working point. According to the pose probability coefficient, the concept of orientation manipulability was proposed, which represented the operability of manipulator. On the basis of orientation manipulability, an algorithm of dimensional optimization to manipulator was proposed. Based on the original structure design, this algorithm takes the reciprocal of the orientation manipulability as fitness function. Under the condition of self-collision, dimensional parameters of manipulator were optimized to maximize the operability by using genetic algorithm. Optimization algorithm was applied to a six-degree of freedom (DOF) manipulator. Results show that the orientation manipulability increases by 40.33% after optimization. Finally, validity of the algorithm was further verified by dexterous workspace and the effect of the pose probability coefficient to the optimal results was also discussed.

     

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