本文的主要目的是建立一個新的算法,以簡化所有類型的并聯(lián)機器人的運動學問題的解決,而不限制自由度的數(shù)量。該算法適用于各種并聯(lián)機器人結構,具有精度高、可靠性好、執(zhí)行時間短、比現(xiàn)有方法更易于使用的特點。五連桿并聯(lián)機器人的數(shù)值模擬和實驗結果表明,該方法可用于解決各種并聯(lián)機器人的運動學問題,對于結構復雜和自由度多的并聯(lián)機器人,該方法也具有計算時間短、精度高、可靠性高、結果收斂快等優(yōu)點。此外,本文還擴展了該方法在機器人公差設計領域的應用。通過兩個仿真實驗驗證了該方法的可行性;計算和仿真結果也說明了所提出的公差分配方法的準確性和效率。首先,在研究手臂機器人優(yōu)化問題的基礎上,本論文提供了新的接入方法以尋找運動學參數(shù),即將傳統(tǒng)并聯(lián)機器人運動學問題轉換成有約束的非線性最優(yōu)化問題,其目標函數(shù)是Rosenbrock-Banana函數(shù)。經(jīng)過很多試驗,在非線性優(yōu)化問題中Rosenbrock-Banana函數(shù)最合適是廣義簡約算法。從運動學控制試驗中直接尋找,將縮短編程開發(fā)時間。其次,本文提出一種新的方式分類并聯(lián)機器人,非棱柱并聯(lián)機器人與棱柱并聯(lián)機器人,包括3種:非棱柱并聯(lián)機器人（類型1）,棱柱并聯(lián)機器人分成兩種:主... 

【文章來源】：華南理工大學廣東省 211工程院校 985工程院校 教育部直屬院校

【文章頁數(shù)】：248 頁

【學位級別】：博士

【文章目錄】：
摘要
Abstract
Chapter 1 Introduction
    1.1 Methods for information initialization of robot
    1.2 Robot kinematics, models and methods
        1.2.1 Robot kinematics
        1.2.2 Modelling phase
        1.2.3 Model survey phase
        1.2.4 An overview of methods for solving kinematic problems of parallel robot
    1.3 Research orientation
    1.4 Subjects and research methods
    1.5 Contents of the present thesis
Chapter 2 Mathematical Bases for Changing from the Robot Kinematic Problem to theOptimization Problem
    2.1 Introduction
    2.2 Robot kinematic under the optimization form
        2.2.1 The optimal mathematical model of robotic kinematic
        2.2.2 Bases for optimization problems on the robot arm
        2.2.3 The optimal movement problem
        2.2.4 Algorithm diagram
        2.2.5 The uniform precision structure
        2.2.6 The effect of the difference calculation on the accuracy of the problem
    2.3 Types of associated vector equations for parallel robots
        2.3.1 Difference in the way to build the associated vector equations for robot arms andparallel robots
        2.3.2 The non-prismatic parallel robot (Type 1)
        2.3.3 The prismatic parallel robots
        2.3.4 Identify similarities in the mathematical model of parallel robots and robot arms
    2.4 Chapter conclusion
Chapter 3 Application of Generalized Reduced Gradient Algorithm to Solve theKinematic Problem of Parallel Robots
    3.1 Introduction
    3.2 Generalized Reduced Gradient algorithm
    3.3 Introduction of optimization application of solver in Microsoft-Excel
    3.4 Resolution of the Kinematic Problems of Parallel Robots using Generalized ReducedGradient algorithm
        3.4.1 Parallel robot of type 1
        3.4.2 Equivalent substitution configuration and the formulation of variables change
        3.4.3 Parallel robot of type 2
        3.4.4 Parallel robot of type 3
        3.4.5 The assurance of unique solution between two different spaces
        3.4.6 Testing the reliability of the novel method
        3.4.7 Testing the precision of the novel method and compare accuracy with other methods
    3.5 Chapter’s conclusion
Chapter 4 Simulation and Experimental Study
    4.1 Introduction
    4.2 Content of experiment
    4.3 Based on experimental design
        4.3.1 Parallel Scara robot
        4.3.2 Settings of kinematic characteristics of joints for Parallel Scara robot
    4.4 Testing simulation and accuracy of numerical results
        4.4.1 Inspection of results by graphics
        4.4.2 Inspection of results by simulation software
    4.5 Experimental study
        4.5.1 Experimental setup
        4.5.2 Basic parameters of mechanical-electrical-electronic components
        4.5.3 Design of control system software
        4.5.4 Results of experiments and discussion
    4.6 Chapter conclusions
Chapter 5 Application Generalized Reduced Gradient Algorithm to DetermineTolerance Design of Robot Parameters
    5.1 Introduction
    5.2 Literature review of tolerance design
    5.3 The formation of the optimal problem
    5.4 Solution method for the optimization problem
    5.5 Determination of the tolerance of joint angle movement
    5.6 Determination of the deviation of link dimensions and joint free radial movement byusing inverse kinematic
    5.7 The example of numerical simulation
        5.7.1 Robot arm
        5.7.2 Parallel Robot
    5.8 Checking the accuracy of the proposed method
    5.9 Chapter conclusion
Chapter 6 Conclusions and Future Works
    6.1 Conclusions
    6.2 The main points of innovation
    6.3 Future works
References
AppendixⅠ
Achievement of research
Acknowledgements
附件


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