6-CRS并联机器人机构及其位置分析

中国机械工程 ›› 2010, Vol. 21 ›› Issue (14): 1669-1675.

6-CRS并联机器人机构及其位置分析

车林仙1,2;何兵2;程志红1

1.中国矿业大学,徐州,221008

2.泸州职业技术学院,泸州,646005

出版日期:2010-07-27 发布日期:2010-09-19
基金资助:
四川省应用基础研究计划资助项目(2008JY-0163)；泸州市重点科技计划资助项目(2008-S1-17)
Sichuan Provincial Applied Basic Research Program ( No. 2008JY-0163);
Key Program of Science and Technology of Luzhou ( No. 2008-S1-17)

A 6-CRS Parallel Manipulator and Its Positional Analysis

Che Linxian1,2;He Bing2;Cheng Zhihong1

1.China University of Mining and Technology,Xuzhou,Jiangsu,221008

2.Luzhou Vocational and Technical College,Luzhou,Sichuan,646005

Online:2010-07-27 Published:2010-09-19
Supported by:
Sichuan Provincial Applied Basic Research Program ( No. 2008JY-0163);
Key Program of Science and Technology of Luzhou ( No. 2008-S1-17)

摘要/Abstract

摘要：

提出一种新型6-CRS广义Stewart并联机器人机构,建立了其几何模型。应用螺旋理论分别分析了以圆柱副中的转动和线性移动作为主动输入的合理性,研究了相应的机构位置正反解问题。为提高差分进化算法(DE)的寻优效率,将其改进为自适应逃逸差分进化算法(AEDE),可有效克服早熟收敛并提高计算精度。建立了以转动输入为主驱动的机构位置正解非线性方程组,并应用AEDE求其解;推导了以移动输入为主驱动时的位置正解封闭表达式。数值实例表明,AEDE能快速求出以转动输入为主驱动时的全部高精度位置正解,并通过位置反解验证了位置正解的正确性。

关键词:

并联机器人机构, 螺旋理论, 位置正解, 差分进化算法, 自适应策略

Abstract:

This paper presented a 6-CRS general Stewart parallel manipulator and established its geometrical model.The screw theory was employed to discuss the rationality of chosen different actuated inputs,i.e. rotary actuation or linear actuation of the cylindrical pairs, respectively, and the corresponding direct/inverse solutions were investigated for positional analysis of this mechanism. In order to improve the performance of DE algorithm, we developed an adaptive escape DE(AEDE) algorithm that can effectively overcome premature convergence and increase precision of solutions. When the actuated pairs were rotary actuations, the nonlinear equations were obtained to analyze forward displacement of this manipulator and solved by the AEDE algorithm.On the other hand, when the actuated pairs were linear ones, the completely closed formed formulae were proposed to get its direct solutions of displacement. The results of numerical verification show that all forward solutions for rotary actuations can be precisely found by the AEDE algorithm and they are very coincident with the inverse ones.

Key words: parallel manipulator, screw theory, forward positional analysis, differential evolution(DE) algorithm, adaptive strategy

中图分类号:

TH112
TP242

车林仙, 何兵, 程志红.

6-CRS并联机器人机构及其位置分析

[J]. 中国机械工程, 2010, 21(14): 1669-1675.

CHE Lin-Xian, HE Bing, CHENG Zhi-Gong.

A 6-CRS Parallel Manipulator and Its Positional Analysis

[J]. China Mechanical Engineering, 2010, 21(14): 1669-1675.

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