基于给定工作空间的6R型机器人D-H 参数优化设计

摘要

The related joints who affected the workspace of a 6R robot were analyzed and deter‐mined by using the analytical method .Then the workspace boundary curves of the 6R robot were ac‐quired by using the graphic method ,and a three-dimensional model of the workspace was established . In order to obtain a compact structure ,based on a prescribed workspace ,D-H parameters of the 6R robot were optimized by using the genetic algorithm ,and the optimal solution was acquired .In the end ,the optimal results were verified in the software of Pro/E .%运用解析法分析并确定了影响6R 型机器人工作空间的相关关节，进而运用图解法获得了6R 型机器人工作空间边界曲线，并建立了6R 型机器人工作空间的三维仿真模型。为了得到紧凑的结构，在给定工作空间的情况下，利用遗传算法对6R 型机器人的 D-H 参数进行优化设计，得到了满足约束条件且使机器人连杆长度最小的最优解，并通过6R 型机器人三维模型工作空间验证了优化结果的合理性。