Round steel end face labelling five degree of freedom parallel serial robot scale synthesis method

Abstract

The invention provides a round steel end face labelling five degree of freedom parallel serial robot scale synthesis method which includes the following steps that optimized parameter is determined according to a mechanism configuration and optimized sector is establish; whole body of the parallel serial robot is regarded as a serial mechanism, differential variation method is adopted to solve Jacobi matrix, and a parallel mechanism is regarded as a series connection joints, differential variation method is adopted to solve Jacobi matrix of the parallel mechanism, and the parallel mechanism isput into the corresponding column of the Jacobi matrix of a parallel serial mechanism and the Jacobi matrix of the parallel serial mechanism is established; universe kinematic performance index of the parallel serial mechanism is established; universe stiffness performance index of the parallel serial mechanism is established; universe transmission performance index is established; kinematic, stiffness and the transmission performance index are used as optimized objective function, and Monte Carlo method is used for unifying mechanism position parameter of the objective function; and Pareto frontier method is adopted, non-dominant sequencing genetic algorithm with elite-preserving strategy is used for finding the optimal value of the objective function to get the best size, parallel serial mechanism scale synthesis problem is solved efficiently.

Description

technical field [0001] The invention relates to a scale synthesis method of a five-degree-of-freedom hybrid robot for labeling round steel end faces, and belongs to the technical field of hybrid robots. Background technique [0002] Hybrid mechanism has the advantages of both series mechanism and parallel mechanism, and has broad application space in aerospace, medical equipment, industrial production and other fields. Scale synthesis is an important part of hybrid robot design. The mechanical performance of hybrid robots varies greatly at different scales. Good scale parameters can give full play to the performance advantages of hybrid mechanisms. Therefore, it is of great significance to perform scale synthesis on hybrid mechanisms. The commonly used methods of scale synthesis are performance map method and objective function method: the principle of performance map method is to reduce the number of parameters, express the relationship between performance indicators and pa...

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Problems solved by technology

[0003] At present, there are a lot of scale-synthesis related research on series mechanism or parallel mechanism, but the scale-synthesis research on hybrid mechanism is extremely limited, and the hybrid mechanism is decomposed into series mechanism and parallel mechanism, and the scale is synthesized separately, such as patent CN201710616947.9 It is a scale synthesis centering on the parallel mechanism in the hybrid mechanism. While the hybrid mechanism has the advantages of both the series mechanism and the parallel mechanism, it inevitably includes the research difficulties of both. The main reason is that the scale synthesis using the objective function method involves The Jacobian matrix of the mechanism, and there are few related studies on the Jacobian matrix of the hybrid mechanism, and the Jacobian matrix contains the terminal position information of the hybrid mechanism and the terminal position information of the parallel mechanism. Due to the difficulty of reverse solution of the series mechanism and the difficulty of the forward solution of the parallel mechanism, The objective function is difficult to establish through unified parameters, so it is very difficult to synthesize the scale of the hybrid robot as a whole

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