Robot Workspace Optimization based on Monte Carlo Method and Multi Island Genetic Algorithm

IF 0.6 4区 工程技术 Q4 MECHANICS Mechanika Pub Date : 2022-08-30 DOI:10.5755/j02.mech.32035
Qingliang Zeng, Guangyu Zhou, Ji Shi, Yongqing Li, Yuanqiang Liu, Tianming Chen, Liang Wang
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引用次数: 1

Abstract

Workspace analysis is an indispensable part of robot research. The workspace volume is an important factor to measure the working ability of parallel robot. In order to maximize the workspace of parallel robot, this paper solves the workspace of robot by using Monte Carlo method, and obtains that the workspace volume is 2.142×106 mm3, which is optimized by the multi Island genetic algorithm in the global optimization algorithm. After optimization, the workspace volume increases to 8.25×106 mm3, the volume of workspace before and after optimization is increased by 3.85 times. The influence of various structural parameters of the parallel robot on the workspace volume is analyzed and studied. It is obtained that the rod length ratio of the connecting rod and the driving rod has the greatest influence on the workspace volume, followed by the ratio of the center angle of the long and short sides, and the radius of the moving platform has the least influence. Furthermore, the influence of single parameter on the workspace volume is analyzed. When other parameters remain unchanged, the maximum workspace volume can be achieved when the rod length ratio of connecting rod and driving rod is 1.25, or the ratio of center angle of long and short sides is 1.53.
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基于蒙特卡罗方法和多岛遗传算法的机器人工作空间优化
工作空间分析是机器人研究中不可或缺的一部分。工作空间体积是衡量并联机器人工作能力的重要因素。为了使并联机器人的工作空间最大化,本文采用蒙特卡罗方法对机器人的工作面积进行了求解,得到工作空间体积为2.142×106mm3,并采用全局优化算法中的多岛遗传算法进行了优化。优化后,工作空间体积增加到8.25×106mm3,优化前后的工作空间体积提高了3.85倍。分析研究了并联机器人的各种结构参数对工作空间体积的影响。结果表明,连杆和驱动杆的杆长比对工作空间体积的影响最大,其次是长边和短边的中心角比,移动平台的半径影响最小。此外,还分析了单个参数对工作空间体积的影响。在其他参数不变的情况下,当连杆与驱动杆的杆长比为1.25,或长边与短边的中心角比为1.53时,可以获得最大工作空间体积。
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来源期刊
Mechanika
Mechanika 物理-力学
CiteScore
1.30
自引率
0.00%
发文量
50
审稿时长
3 months
期刊介绍: The journal is publishing scientific papers dealing with the following problems: Mechanics of Solid Bodies; Mechanics of Fluids and Gases; Dynamics of Mechanical Systems; Design and Optimization of Mechanical Systems; Mechanical Technologies.
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