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考虑抓取机械手工作于狭小圆形管道内与工作对象的分布特点两方面因素,管内异物抓取机械手采用三自由度关节型机械手的机构型式。以机械手的工作空间主截面最大与杆件长度尺寸之和最小为优化目标,建立了综合优化目标函数,得到机械手的结构参数优化解,为机械手的结构设计及运动学与动力学分析提供了基础参数。同时对所得优化结果做了进一步分析,为机械手的机构参数的修改与调整提供了可靠的理论依据。
Considering the two factors that robots manipulate in the narrow circular pipe and the distribution of the work object, the foreign matter gripping robot in the pipe adopts the mechanical type of three-DOF articulated manipulator. The objective of optimization is to optimize the objective function and obtain the optimal solution of the structural parameters of the manipulator, which provides the basis for the structural design and kinematics and dynamics analysis of the manipulator. parameter. At the same time, the optimized results are further analyzed, which provides a reliable theoretical basis for the modification and adjustment of mechanical parameters of manipulator.