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Optimization Design of Planar Five-bar Parallel Robot's Bar Length

机译：平面五连杆并联机器人连杆长度的优化设计

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摘要

The target movement range of planar five-bar parallel robot is decided by the length of each bar and swinging angle. In general designs are bound by the single-objective optimization. Scope of the overall movement is considered as the goal of optimization. Although this method may seek all the possible movement scope completely, but has actually neglected the restraint of mechanical hinge structure. To determine the length in this way there are interference and stuck phenomenon. To address this issue in this paper the bounds of mechanical structure are added in. A new set of optimization algorithms is established. Analytical method is used to establish the algorithm of planar five-bar parallel robot's positive solution. Then MATLAB is used to obtain the positive solutions of target movement range. Generally under unconstrained circumstances, we found that there are two positive solutions and mutual symmetry on the x-axis. After adding in the restriction of swinging angle, we succeed in finding the optimal solutions. Finally we use an example to explain how it works. MATLAB is used to determine the length of each bar and found a 200 × 150 mm of the target movement range. Through the diagram has been plotted by MATLAB, we find that the second solution is the optimal solution. This method can be used to optimize the length of planar five-bar parallel robot.
机译：平面五杆并联机器人的目标运动范围取决于每根杆的长度和摆动角度。通常，设计受单目标优化约束。整体运动的范围被认为是优化的目标。尽管该方法可以完全寻求所有可能的运动范围，但实际上已经忽略了机械铰链结构的约束。以这种方式确定长度时，会产生干扰和卡住现象。为了解决这个问题，本文增加了机械结构的界限。建立了一组新的优化算法。运用解析法建立了平面五杆并联机器人的正解算法。然后使用MATLAB获得目标运动范围的正解。通常，在不受约束的情况下，我们发现x轴上有两个正解和相互对称。添加了摆动角度的限制后，我们成功找到了最佳解决方案。最后，我们用一个例子来解释它是如何工作的。 MATLAB用于确定每个条的长度，并找到目标移动范围的200×150 mm。通过MATLAB绘制的图表，我们发现第二个解决方案是最优解。该方法可用于优化平面五杆并联机器人的长度。

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  • 来源
  • 会议地点 Harbin(CN);Harbin(CN)
  • 作者

    N.J. Wang; C. Liang; P. Shi;

  • 作者单位

    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang Province, China, 150001;

    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang Province, China, 150001;

    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang Province, China, 150001;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械制造工艺;
  • 关键词

    planar five-bar; parallel robot; the scope of movement; optimum design;

    机译：平面五杆并联机器人活动范围；优化设计;

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