| 王安然， 金晓怡， 奚鹰.基于粒子群优化算法的上下料机械手加工空间优化[J].轻工机械,2021,39(3):94-99 |
| 基于粒子群优化算法的上下料机械手加工空间优化 |
| Moving Trajectory Optimization of Loading and Unloading Manipulator Based on PSO Algorithm |
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| DOI：10.3969/j.issn.1005 2895.2021.03.018 |
| 中文关键词: 机械手 粒子群优化 工作空间 蒙特卡洛法 |
| 英文关键词:manipulator PSO（Particle Swarm Optimization） work space Monte Carlo method |
| 基金项目:江西省赣州市科技重大专项（TGS2018 01 02）。 |
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| 中文摘要: |
| 针对CNC车床上下料装置在狭小的加工空间进行自动上下料时可能出现的干涉和碰撞等情况，课题组通过粒子群算法(PSO)结合正逆运动学求解，对机械手的运动空间和各关节的运动变量进行优化设计。在已知加工起始点和终止点的情况下，在世界坐标系将各关节的移动量作为自变量，通过粒子群的不断迭代寻优，在设定的边界条件下得到优化结果，并结合蒙特卡洛法进行可视化。本研究能够直观得到机械手的最大移动空间，可将机械手在限制范围内的可移动空间最大化。 |
| 英文摘要: |
| In view of the interference and collision that may occur when CNC lathe loading and unloading device working in the narrow space, the research group used PSO (Particle Swarm Optimization) algorithm combined with forward andinverse kinematics to optimize the motion space of the manipulator and the motion variables of each joint. Under the condition of the known processing start and end points in the world coordinates,making movement amount of each joint as independent variables, through the continuous iteration of particle swarm optimization, the optimization results were obtained under the set boundary conditions, and combined with the Monte Carlo method for visualization.This study can intuitively get the maximum mobile space of the manipulator, and can maximize the mobile space of the manipulator in the limited range. |
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