3-PRS (Prismatic-Revolute-Spherical) parallel robot positioning accuracy optimization method based on interval analysis

Abstract

The invention provides a 3-PRS (Prismatic-Revolute-Spherical) parallel robot positioning accuracy optimization method based on interval analysis, which effectively solves the problem of optimization design of the positioning accuracy of a 3-PRS parallel robot and avoids the problems that the weight is difficult to select and the local minimum is apt to occur when a traditional optimization algorithm is adopted. The method comprises the steps of 1) performing singularity and positioning accuracy interval analysis and mathematical modeling, and designing positioning accuracy operators; 2) performing positioning accuracy optimization based on the interval analysis: on the basis of the step 1, analyzing and processing the rotating angle around a Z-axis of a mechanism and reducing the computation time for optimization design; 3) performing interval analysis simplification design, forming a 3-PRS parallel robot positioning accuracy optimization algorithm, obtaining a dual round-robin algorithm based on the interval analysis and finally solving an optimization solution interval of geometric design parameters which meet singularity and positioning accuracy requirements when the 3-PRS parallel robot moves in a given working space.

Description

technical field [0001] The present invention relates to a 3- P The invention discloses a method for optimizing positioning accuracy of an RS parallel robot, which belongs to the technical field of intelligent robots. Background technique [0002] The development and application of robot technology has greatly changed human production and life style. The use of robots can not only quickly and accurately complete boring repetitive tasks, but also safely and reliably complete many complex operations in dangerous and harsh environments, which can greatly reduce people's labor intensity, increase labor productivity, and improve product quality. As an advanced robot with a closed-chain structure, the parallel robot has the advantages of low motion inertia, strong load capacity, and high rigidity in terms of mechanism, which just makes up for the shortcomings of traditional industrial robots in these aspects, making parallel robots a potential robot. High-speed, high-precision mo...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the main problems existing in the current method, the present invention proposes a 3- P The positioning accuracy optimization method of RS parallel robot effectively solves the 3- P The optimization design problem of positioning accuracy of RS parallel robot avoids the problem that the traditional optimization algorithm is difficult to select the weight and is easy to fall into the local minimum problem, and the 3- P The singularity and positioning accuracy of the RS parallel robot are the optimization goals. Using the optimization algorithm with incremental and open structure as a means, through a series of interval operations, the optimal solution interval of the geometric design parameters that meet the design requirements is finally given.

Images