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应用科学学报 ›› 2005, Vol. 23 ›› Issue (5): 526-529.

• 论文 • 上一篇    下一篇

基于混沌遗传算法的并联机器人精度综合

贺利乐1,2, 刘宏昭1, 潘芳伟2, 段志善2   

  1. 1. 西安理工大学机仪学院, 陕西西安 710048;
    2. 西安建筑科技大学机电学院, 陕西西安 710055
  • 收稿日期:2004-09-02 修回日期:2004-11-22 出版日期:2005-09-30 发布日期:2005-09-30
  • 作者简介:贺利东(1963-),男,陕西户县人,博士生,副教授,E-mail:2002HLL@sohu.com;刘宏昭(1954-),男,山西代县,博士,博导,教授,E-mail:Liu-Hongzhao@163.com

Accuracy Synthesis Based on Chaos-Genetic Algorithms of Parallel Robot

HE Li-le1,2, LIU Hong-zhao1, PAN Fang-wei2, DUAN Zhi-shan2   

  1. 1. School of Machinery and Precision Instrument Engineering, Xi'an University of Science and Technology, Xi'an 710048, China;
    2. School of Machinery and Electrical Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China
  • Received:2004-09-02 Revised:2004-11-22 Online:2005-09-30 Published:2005-09-30

PDF

86

被引次数

4

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.

关键词: 并联机器人, 混沌遗传算法, 精度综合

Abstract: Taking into account the influence of randomness of clearance error caused by the joints including spherical and rotational hinges, 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.

Key words: parallel robot, accuracy synthesis, chaos-genetic algorithms

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