Abstract: When the industrial robot carries on the precise processing, it is possible to finish in the work space of the whole attitude. In order to obtain the compact structure and meet the processing point, a new hybrid optimization algorithm is proposed. The structure model of the robot is established, and the global optimal particle and inertia weight of the particle swarm is introduced. The two parameters are classified by the intermediate value. The dynamic changes of the search medium and the optimization ability are enhanced. After verification, the algorithm has better search ability and higher accuracy. Finally, parameter identification of the structural optimization model, the results show that the obtained structure is compact and the quality of the rod length parameter is better while keeping the same size of the original quasi total attitude, Thereby, the proposed algorithm is effective and practical.

Key words: industrial robot, quasi full pose workspace, rod length parameter, intermediate value, inertia weight