| 2-DOF平面并联机器人结构参数优化的研究 |
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| 引用本文： | 孙立宁,楚中毅,曲东升,崔晶. 2-DOF平面并联机器人结构参数优化的研究[J]. 哈尔滨工业大学学报, 2004, 36(3): 277-280 |
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| 作者姓名： | 孙立宁 楚中毅 曲东升 崔晶 |
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| 作者单位： | 哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001;哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001;哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001;哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划资助项目(2001AA423110). |
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| 摘 要： | 提出了一种新颖的高速高精度机器人机构采用高速精密直线电机驱动-2-DOF平面并联杆机构.在杆机构的设计中,以结构紧凑和抑振为目标,分别采用模拟退火算法和有限元动力仿真进行了几何尺寸和截面尺寸的优化,并提出了一种基于本模型特点的新解产生机制.实验测试结果表明经优化设计后的平面并联杆机构刚度大,高速运动下的残余振动＜1 μm,直线电机的稳定时间成为决定机器人稳定时间的关键因素.
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| 关 键 词： | 平面并联 机器人 模拟退火法 结构优化 |
| 文章编号： | 0367-6234(2004)03-0277-04 |
| 修稿时间： | 2003-10-10 |
Structure optimization of a novel 2-DOF planar parallel robot |
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| SUN Li-ning,CHU Zhong-yi,QU Dong-sheng,CUI Jing. Structure optimization of a novel 2-DOF planar parallel robot[J]. Journal of Harbin Institute of Technology, 2004, 36(3): 277-280 |
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| Authors: | SUN Li-ning CHU Zhong-yi QU Dong-sheng CUI Jing |
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| Abstract: | Proposed a novel high speed/high accuracy Robot: two permanent, linear, DC servomotors drive a 2-DOF planar parallel mechanism. In the design of the planar parallel mechanism, considering impacted struc ture and restraining vibration, adopted separately simulated annealing algorithm and Finite Element dvnamical simulation to optimize geometrical dimension and section parameters. Simultaneously, a new solution generate engine is presented based on characteristics of the optimization modei. At last, experimental results validate that the planar parallel mechanism being optimized includes high stiffness, residual vibration is lower than 1uuuuuuuuuuuuuuuuuuuuuum in high speed motion, and the robot' s steady time is decided by linear motors. |
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| Keywords: | planar parallel robot simulated annealing optimization |
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