基于Matlab的4R搬运机械手机构参数优化设计

摘要

According to the requirements of working space,taking minimizing main section of grasping manipulator workspace and minimizing the sum of rod piece lengths as the optimization goal,a synthesis optimization objective function was established.Then,the optimized solution of mechanism parameters for manipulator was obtained by Matlab programming,providing basic parameters for structure design and analysis of the statics and dynamics. At the same time,further analysis of the optimization results,providing theoretical basis for the structural modification and adjustment of the manipulator.%根据工作空间要求，以机械手的工作主截面最小和杆件长度之和最小为优化目标，建立综合优化目标函数，通过Matlab编程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提供基础参数，同时对所优化结果做进一步分析，为机械手的结构修改和调整提供理论依据。