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基于姿态可操作度的机械臂尺寸优化方法

贾世元 贾英宏 徐世杰

贾世元, 贾英宏, 徐世杰等 . 基于姿态可操作度的机械臂尺寸优化方法[J]. 北京航空航天大学学报, 2015, 41(9): 1693-1700. doi: 10.13700/j.bh.1001-5965.2014.0665
引用本文: 贾世元, 贾英宏, 徐世杰等 . 基于姿态可操作度的机械臂尺寸优化方法[J]. 北京航空航天大学学报, 2015, 41(9): 1693-1700. doi: 10.13700/j.bh.1001-5965.2014.0665
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)

基于姿态可操作度的机械臂尺寸优化方法

doi: 10.13700/j.bh.1001-5965.2014.0665
基金项目: 国家自然科学基金(11272027)
详细信息
    作者简介:

    贾世元(1988—),男,山东日照人,博士研究生,jiashi.yuan@163.com

    通讯作者:

    贾英宏(1976—),男,河北阳原人,副教授,jia_yingh@163.com,主要研究方向为航天器动力学与控制.

  • 中图分类号: TP242.2

Dimensional optimization method for manipulator based on orientation manipulability

  • 摘要: 为解决机械臂尺寸优化设计问题,首先定义了表征灵活性的数值指标——姿态概率系数,即指定工作点上可行样本姿态与所取样本姿态之间的比值;之后根据姿态概率系数提出了姿态可操作度概念,它表征了机械臂在工作空间上的整体可操作性.在此基础上,提出了机械臂尺寸优化方法.该方法在机械臂原有结构设计的基础上,以机械臂自身无碰撞为约束条件,以姿态可操作度的倒数为适应度函数,利用遗传算法优化机械臂的尺寸参数,使优化后机械臂的可操作性最优.以六自由度(DOF)机械臂为例的优化结果表明:优化后机械臂姿态可操作度提高了40.33%.最后利用灵活性工作空间图进一步验证了算法的有效性,并讨论了姿态概率系数对优化结果的影响.

     

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出版历程
  • 收稿日期:  2014-10-25
  • 刊出日期:  2015-09-20

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