摘要
充分考虑关节(球铰、回转副)间隙误差随机性的影响,在运动学逆解的基础上,建立了并联机器人实际误差模型;在误差分析的基础上,以连杆、关节精度为设计变量,以公差制造成本为目标函数,以位置体积误差满足设计精度为约束条件,建立了并联机器人精度综合的优化数学模型,采用混沌遗传算法进行了精度综合.结果表明该方法过程清晰、编程简单、且精度高.
Taking into account the influence of randomness of clearance error caused by the joints including spherical and rotational , this paper proposes an actual error model of parallel robot. Based on error analysis, a mathematical model of optimization for accuracy synthesis for parallel robots is established by taking accuracy of connecting rods and joints as design variables and manufacturing cost of tolerances as a target function, and making position and volume errors within the design criterion. The accuracy synthesis is carried out using chaos-genetic algorithms. This method has many advantages such as legibility, ease of programming and high precision as demonstrated by the simulation results.
出处
《应用科学学报》
CAS
CSCD
北大核心
2005年第5期526-529,共4页
Journal of Applied Sciences
关键词
混沌遗传算法
并联机器人
精度综合
chaos-genetic algorithms
parallel robot
accuracy synthesis
