Size Optimization Method of 6R Manipulator Based on Global Maneuverability

doi:10.16182/j.issn1004731x.joss.19-0550

Abstract

Abstract: Aiming at the six-DOF manipulator of service robot, the structure size parameters are optimized and analyzed. The global manipulability index of the manipulator workspace is defined, the coordinate system of the position and attitude is established, and the reachability of the position and attitude is calculated with the inverse solution of the manipulator, and the global manipulability index of the manipulator is proposed. Taking the maximum value of this index as the optimization target, the size parameters of the connecting rod of the manipulator are optimized by genetic algorithm, the size of the optimized connecting rod and the global operational degree are obtained, and the operational ability map of the manipulator workspace before and after optimization is drawn. The simulation results show that the global maneuverability of the optimized manipulator is obviously improved, and the validity of the size optimization algorithm is further verified by comparing the workspace capability map.

Key words: manipulator, global maneuverability, genetic algorithm, size optimization

CLC Number:

TP241

Li Xianhua, Shi Xuesong, Lü Lei, Zhang Leigang, Song Tao. Size Optimization Method of 6R Manipulator Based on Global Maneuverability[J]. Journal of System Simulation, 2019, 31(12): 2569-2574.

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