农业机械学报2024，Vol.55Issue(4)：440-451,12.DOI:10.6041/j.issn.1000-1298.2024.04.044
基于多目标均衡优化的2PRU&1PRS-XY型混联机器人尺度设计方法
Dimensional Design of 2PRU&1PRS-XY Hybrid Robot Based on Multi-objective Equilibrium Optimization
摘要
Abstract
A 2PRU&1PRS-XY hybrid robot was proposed for the design requirements of robotic machining equipment for complex structural components.In order to apply the new hybrid robot to high-performance 5-axis machining,it is necessary to realize the dimensional design that takes into account the balanced optimization of multi kinematics performance.Therefore,in addition to analyzing the working space,motion/force transmission and dexterity indicators of hybrid robot,the difference index of transfer stability and accuracy was also proposed,and a scale design method based on the idea of multi-objective equilibrium optimization was designed.This method adopted standardized method to simplify the multi-parameter design space,applied response surface methodology to improve the efficiency of solving complex functional functions,and the optimization solution efficiency was improved by the principal component analysis method.Combined with subjective and objective combinatorial empowerment method and TOPSIS-based Pareto frontier method,multi-index comprehensive performance scoring was carried out.Using the proposed method,four dimensional parameter design schemes were obtained that balanced optimization efficiency and multi-objective equilibrium optimization.The optimization design of the main dimensional parameters of the hybrid robot was achieved,providing designers with multi-objective equilibrium decision-making references with different engineering design preferences.关键词
混联机器人/多目标优化/运动学性能/尺度设计Key words
hybrid robot/multi-objective optimization/kinematic performance/dimensional design分类
信息技术与安全科学引用本文复制引用
汤腾飞,沈漪枫,叶伟,张俊..基于多目标均衡优化的2PRU&1PRS-XY型混联机器人尺度设计方法[J].农业机械学报,2024,55(4):440-451,12.基金项目
福建省高校产学合作项目(2019H6006)、福建省自然科学基金杰青项目(2020J06010)、浙江理工大学科研启动基金项目(22242255-Y)和浙江省教育厅一般科研项目(Y202353493) （2019H6006）
