基于约束微分进化的六自由度并联机器人工作空间最大化优化设计

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI:10.1109/ICARM52023.2021.9536210

Huayan Pu, Hao Cheng, Jie Ma, Jin Yi, Jinglei Zhao, Zhijiang Xie, Shilong Wang, Tao Zhu, Jun Luo

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引用次数: 1

摘要

并联机器人在各个领域的应用越来越广泛。本文研究了一种用于运动仿真的6-PSS并联机械手的设计优化问题。根据几何分析和运动学分析，提出了工作空间最大化的优化问题。特别地，该工作空间是一个具有6个自由度的完全灵活的工作空间。为了使6-PSS并联机器人的工作空间最大化，研究了差分进化算法(DE)和遗传算法(GA)作为比较。计算结果表明，DE算法在提供最优解方面优于GA算法48.3%，在耗时方面优于GA算法9.3%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Optimal Design of 6-DOF Parallel Manipulator with Workspace Maximization using a Constrained Differential Evolution

The applications of parallel robots in various fields are increasing. In this paper, a research on the design optimization of a 6-PSS parallel manipulator for motion simulating is presented. The optimization problem of maximizing the workspace is formulated according to geometric and kinematic analysis. In particular, the workspace is a totally flexible workspace with 6 degrees-of-freedom (DOF). To maximize the workspace of the 6-PSS parallel robot, we investigated the differential evolution algorithm (DE), and the genetic algorithm (GA) is also adopted as a comparison. Computational results show DE algorithm outperforms GA algorithm at about 48.3% in optimal solution providing and 9.3% in time consuming.

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2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

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