Affiliation:
1. School of Artificial Intelligence, Anhui University of Science and Technology, Huainan 232001, China
2. Key Laboratory of Conveyance and Equipment of Ministry of Education, East China Jiaotong University, Nanchang 330013, China
3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
Abstract
The mechanism parameters of the manipulator not only have a great influence on the size of the working space but also affect flexible performance distribution. Aimed at obtaining a 6 DOF modular manipulator, mechanism parameters were optimized in order to explore the effect of upper arm and forearm dimensions on the end dexterity of the manipulator. First, forward kinematic equations were derived using the DH method, and the Jacobian matrix of the manipulator was solved. Second, three indicators, including the condition number index, structural length index, and global conditioning index, were employed as optimization indicators for the mechanism parameters of the manipulator, and an orthogonal experiment was designed based on the Grey–Taguchi method and robot toolbox. Third, the grey relational analysis method was used to process the experimental results, and the grey relational grade for each group was solved. Last, the variation curve between the grey relational grade and the parameter level of each mechanism was drawn, and optimized mechanical arm mechanism parameters were derived. It was found that although the overall dimension of the manipulator was slightly decreased, as determined via comparing the original and optimized manipulator length, the performance indexes were improved. The results not only verified the correctness of the proposed optimization method but also laid a foundation for subsequent research on the dynamic performance of modular robot systems.
Funder
Anhui Provincial Key Research and Development Project
Open Project of Key Laboratory of Conveyance and Equipment of Ministry of Education, East China Jiaotong University
National Natural Science Foundation of China
Medical Special Cultivation Project of Anhui University of Science and Technology
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering