基于执行器能量消耗的并联机器人优化

并联机器人在执行任务过程中的能量消耗特别严重,为此本文以其3个主动执行器的电能消耗最小化为目标对3-RRR平面并联机器人进行尺度优化。在3-RRR机构运动学分析的基础上推导出机构的逆运动学方程,分析了3-RRR机构常见的4种工作模式。采用粒子群算法确定3-RRR机构的连杆和平台质量的最优值。根据优化结果进行仿真和对比分析,结果表明,在4种工作模式下,优化后执行器的力矩值均较小,消耗的电能得以降低,其中工作模式2的性能最佳,在执行相同的轨迹跟踪任务时,其执行器跟踪误差收敛较快,消耗的能量最少。

Optimization of parallel robot based on energy consumption of the actuators

Parallel robots consume much energy when performing tasks, so this paper conducted the dimensional optimization of 3-RRR planar parallel robot in order to minimize the power consumption of the three active actuaors. The inverse kinematics equations of 3-RRR mechanism were given on the basis of kinematic analysis and its four common working modes (WM) were studied. The optimal masses of connecting rods and platform were determined by particle swarm algorithm. Simulation and contrastive analysis according to the optimization results reveal that, at the four woring modes, torque values of the optimized actuators are all small and the power consumptions are reduced. At WM2,3-RRR mechanism has the best performance, tracking errors of the actuators converge more quickly and the actuators consume the least energy when the robot performs the same trajectory tracking task.