Randomized Optimal Design of Parallel Manipulators
Randomized Optimal Design of Parallel Manipulators
复制标题
DOI：
10.1109/tase.2007.909446
复制
发表时间：
2008-04
影响因子：
5.6
通讯作者：
Y. Lou;Guanfeng Liu;Zexiang Li
中科院分区：
文献类型：
--
作者：
Y. Lou;Guanfeng Liu;Zexiang Li
本文旨在研究统一框架下并联机器人的最优运动综合问题。观察到规则（例如，超矩形）工作空间对于大多数机器来说是理想的，我们提出了有效规则工作空间的概念，这同时反映了对工作空间形状和质量的要求。工作空间的有效性以机构在工作空间中每个点上的灵活性为特征。其他性能指标，如可操作性和刚度，提供了工作空间有效性的灵活性表征的替代方案。然后制定了一个优化设计问题，包括对主动/被动关节限制和连杆干涉的约束，以找到最大化有效常规工作空间的机械手几何形状。该问题是一个没有明确解析表达式的约束非线性优化问题。传统的基于梯度的方法在搜索全局最优时存在困难。本文采用了鲁棒可靠的可控随机搜索技术求解。通过Delta机器人和Gough-Stewart平台的实例说明了设计过程。
This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators under a unified framework. Observing that regular (e.g., hyper-rectangular) workspaces are desirable for most machines, we propose the concept of effective regular workspace, which reflects simultaneously requirements on the workspace shape and quality. The effectiveness of a workspace is characterized by the dexterity of the mechanism over every point in the workspace. Other performance indices, such as manipulability and stiffness, provide alternatives of dexterity characterization of workspace effectiveness. An optimal design problem, including constraints on actuated/passive joint limits and link interference, is then formulated to find the manipulator geometry that maximizes the effective regular workspace. This problem is a constrained nonlinear optimization problem without explicitly analytical expression. Traditional gradient based approaches may have difficulty in searching the global optimum. The controlled random search technique, as reported robust and reliable, is used to obtain an numerical solution. The design procedure is demonstrated through examples of a Delta robot and a Gough-Stewart platform.