一种三自由度冗余驱动混联机器人的优化设计 与仿真分析.pdfVIP

Artificial Intelligence and Robotics Research 人工智能与机器人研究, 2017, 6(2), 65-73 Published Online May 2017 in Hans. /journal/airr /10.12677/airr.2017.62008 The Optimal Design and Simulation about a 3-DOF Redundant Actuation Hybrid Robot Jizhuang Hui, Linlin Wu, Shunpeng Cheng, Bin Zhao Key Laboratory for Highway Construction Technology and Equipment of Ministry of Education, Chang’an University, Xi’an Shaanxi th th st Received: May 11 , 2017; accepted: May 28 , 2017; published: May 31 , 2017 Abstract In order to make the hybrid robot have the better structural performance and working perfor- mance, the optimization design of the robot is required. A 3-DOF redundant actuation hybrid ro- bot is used as the research object in this paper. Firstly, the dimension parameters of the robot are non-dimensionalized and the work space of the robot is analyzed. Secondly, the optimal member size and position parameters are sought in the work space of the robot, and the corresponding performance atlas has been plotted. Finally, the pattern of 3-DOF redundant actuation hybrid ro- bot was established by SOLIDWORKS which was imported to Adams to obtain its dynamic simula- tion analysis; the analysis results are consistent with the distribution rules of the performance at- las. Simulation results show that the correctness of each performance index analysis and the ra- tionality of optimization method. The simulation results provide the reference for the optimiza- tion of similar robot mechanism. Keywords Redundant Actuation Hybrid Robot, Parameter Optimization, Work Space, Performance Map 一种三自由度冗余驱动混联机器人的优化设计 与仿真分析 惠记庄，武琳琳，程顺鹏，赵 斌