Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis

doi:10.3901/JME.2019.21.051

CIOMP OpenIR

	Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis
	Z.Zhao; Z.Xu; J.He; S.He; C.Xu
	2019
发表期刊	Jixie Gongcheng Xuebao/Journal of Mechanical Engineering
ISSN	05776686
卷号	55 期号:21 页码:51-63
摘要	A method to solve the problem of configuration selection of super-redundant serial manipulators based on the workspace analysis is proposed. The Monte Carlo method for the robot workspace is improved using normal distribution. The normalized maneuverability index is used to analyze the flexibility of the manipulator's movement. The relationship between the maximum manipulability value and the number of random joint angle combinations is obtained by numerical simulation, and an algorithm to obtain a flexible workspace is proposed. Based on the obtained workspace, a voxelization algorithm is proposed to obtain the volume of the workspace, and the boundary and non-boundary parts of the workspace are found. Through the refinement of the boundary part, the volumetric error is reduced. A multivariant serials manipulator configuration design method is analyzed. For the nine-degree-of-freedom super-redundant series manipulator, 36 kinds of configuration schemes to be selected are determined. The workspace of the nine-degree-of-freedom super-redundant series manipulator is simulated and analyzed, and a set of optimal configurations is selected in the candidate configuration. The results show that the improved Monte Carlo method generates accurate workspace; the volume extraction algorithm has high efficiency and the relative error is less than 1%; the workspace index of the selected configuration is better than the configuration developed by this research group. Reachable workspace volume increases by 26.49% and flexible workspace volume increases by 36.63%. 2019 Journal of Mechanical Engineering.
关键词	Monte Carlo methods,Degrees of freedom (mechanics),Industrial manipulators,Normal distribution,Redundant manipulators,Robotic arms
DOI	10.3901/JME.2019.21.051
URL	查看原文
收录类别	EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/62746
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Z.Zhao,Z.Xu,J.He,et al. Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis[J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering,2019,55(21):51-63.
APA	Z.Zhao,Z.Xu,J.He,S.He,&C.Xu.(2019).Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis.Jixie Gongcheng Xuebao/Journal of Mechanical Engineering,55(21),51-63.
MLA	Z.Zhao,et al."Configuration Optimization of Nine Degree of Freedom Super-redundant Serial Manipulator Based on Workspace Analysis".Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 55.21(2019):51-63.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
Configuration Optimi（518KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载