基于灵巧度3-RCR并联机器人机构的结构参数优化

摘要

The global condition index and the Jacobian matrix of the new 3-RCR parallel robot mechanism were calculated through position analysis. Based on the global condition index of 3-RCR parallel mechanism, taking the dexterity as the optimized goal, the optimization mathematical model was established and the optimization structure parameters were obtained by using the genetic algo-rithm. The research results provide important theory foundation for future study and industrial application.%对新型三平移3-RCR并联机构的位置解、雅克比条件数进行了求解分析；基于3-RCR并联机构的全域条件数,以灵巧度作为优化目标,利用遗传算法对其结构参数进行优化研究,运用MATLAB软件编程得到了该并联机构的灵巧度图谱,为该类并联机构的进一步研究和应用提供了参考.